The open source OpenXR runtime
cmake: fix eigen cmake packages for v5.0 (3.5)
Eigen changed from 3.x versioning to semver (3.5 became 5.0) and
dropped FindEigen3.cmake module support (deprecated in prior versions)
for config discovery.
Switch from find_package version constraints to manual version checking
to maintain compatibility with both versioning schemes (>= 3.3 old or
>= 5.0 new).
See: https://gitlab.com/libeigen/eigen/-/merge_requests/485
Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2583>
+27
-145
+2
-2
.gitlab-ci.yml
+2
-2
.gitlab-ci.yml
···
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script:
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- .gitlab-ci/prebuild.sh
436
-
- .gitlab-ci/ci-cmake-build.sh -DANDROID_ABI=armeabi-v7a -DANDROID_PLATFORM=26 -DCMAKE_TOOLCHAIN_FILE=/opt/android-ndk/build/cmake/android.toolchain.cmake -DEigen3_DIR=/usr/lib/cmake/eigen3/ -DEIGEN3_INCLUDE_DIR=/usr/include/eigen3
436
+
- .gitlab-ci/ci-cmake-build.sh -DANDROID_ABI=armeabi-v7a -DANDROID_PLATFORM=26 -DCMAKE_TOOLCHAIN_FILE=/opt/android-ndk/build/cmake/android.toolchain.cmake -DEigen3_DIR=/usr/share/eigen3/cmake/
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ndk:arm64-v8a:
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stage: build
···
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script:
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- .gitlab-ci/prebuild.sh
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-
- .gitlab-ci/ci-cmake-build.sh -DANDROID_ABI=arm64-v8a -DANDROID_PLATFORM=26 -DCMAKE_TOOLCHAIN_FILE=/opt/android-ndk/build/cmake/android.toolchain.cmake -DEigen3_DIR=/usr/lib/cmake/eigen3/ -DEIGEN3_INCLUDE_DIR=/usr/include/eigen3
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+
- .gitlab-ci/ci-cmake-build.sh -DANDROID_ABI=arm64-v8a -DANDROID_PLATFORM=26 -DCMAKE_TOOLCHAIN_FILE=/opt/android-ndk/build/cmake/android.toolchain.cmake -DEigen3_DIR=/usr/share/eigen3/cmake/
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android:spotlessCheck:
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stage: build
+2
-2
.gitlab-ci/config.yml
+2
-2
.gitlab-ci/config.yml
···
60
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.android_cmake_defines: &android_cmake_defines
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ANDROID_PLATFORM: 26
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CMAKE_TOOLCHAIN_FILE: /opt/android-ndk/build/cmake/android.toolchain.cmake
63
-
Eigen3_DIR: /usr/lib/cmake/eigen3/
64
-
EIGEN3_INCLUDE_DIR: /usr/include/eigen3
63
+
Eigen3_DIR: /usr/share/eigen3/cmake/
64
+
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# Which build job do we use to build the documentation.
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documentation_build: "debian:cmake"
+11
-3
CMakeLists.txt
+11
-3
CMakeLists.txt
···
83
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endif()
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endif()
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-
# Redundant mention of version is required because module defaults to looking for 2.91-compatible,
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-
# which the config file for a 3.x says it's not compatible with.
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-
find_package(Eigen3 3 REQUIRED)
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+
#
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# For backwards compatibility with both version schemes,
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+
# we find any Eigen3 package (in config mode) and check
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+
# the version manually rather than using find_package
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+
# version constraints.
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+
#
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+
find_package(Eigen3 REQUIRED NO_MODULE)
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+
if(Eigen3_VERSION VERSION_LESS "3.3")
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+
message(FATAL_ERROR "Eigen3 version ${Eigen3_VERSION} is too old, need at least 3.3")
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+
endif()
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+
89
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find_package(Vulkan MODULE)
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find_package(HIDAPI MODULE)
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find_package(bluetooth MODULE)
+2
-2
build.gradle
+2
-2
build.gradle
···
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sharedTargetSdk = 31
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sharedMinSdk = 26
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-
// If you are building on Windows, you will need to explicitly set eigenIncludeDir in your
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+
// If you are building on Windows, you will need to explicitly set eigenCMakeDir in your
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// local.properties file since the default value provided below only makes sense on *nix
85
-
eigenIncludeDir = project.findProperty('eigenIncludeDir') ?: '/usr/include/eigen3'
85
+
eigenCMakeDir = project.findProperty('eigenCMakeDir') ?: '/usr/share/eigen3/cmake'
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// If you're having trouble with a "can't find python" CMake error, you can specify the path to
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// Python 3 explicitly in local.properties with a property named "pythonBinary"
-108
cmake/FindEigen3.cmake
-108
cmake/FindEigen3.cmake
···
1
-
# - Try to find Eigen3 lib
2
-
#
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# This module supports requiring a minimum version, e.g. you can do
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-
# find_package(Eigen3 3.1.2)
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# to require version 3.1.2 or newer of Eigen3.
6
-
#
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# Once done this will define
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-
#
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# EIGEN3_FOUND - system has eigen lib with correct version
10
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# EIGEN3_INCLUDE_DIR - the eigen include directory
11
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# EIGEN3_VERSION - eigen version
12
-
#
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# and the following imported target:
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#
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# Eigen3::Eigen - The header-only Eigen library
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-
#
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# This module reads hints about search locations from
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# the following environment variables:
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#
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# EIGEN3_ROOT
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# EIGEN3_ROOT_DIR
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-
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# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
24
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# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
25
-
# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
26
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# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
27
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# SPDX-License-Identifier: BSD-2-Clause
28
-
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-
if(NOT Eigen3_FIND_VERSION)
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-
if(NOT Eigen3_FIND_VERSION_MAJOR)
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-
set(Eigen3_FIND_VERSION_MAJOR 2)
32
-
endif()
33
-
if(NOT Eigen3_FIND_VERSION_MINOR)
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-
set(Eigen3_FIND_VERSION_MINOR 91)
35
-
endif()
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-
if(NOT Eigen3_FIND_VERSION_PATCH)
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-
set(Eigen3_FIND_VERSION_PATCH 0)
38
-
endif()
39
-
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set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
41
-
endif()
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-
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macro(_eigen3_check_version)
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file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
45
-
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string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
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set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
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string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
49
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set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
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string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
51
-
set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
52
-
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set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
54
-
if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
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set(EIGEN3_VERSION_OK FALSE)
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-
else()
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set(EIGEN3_VERSION_OK TRUE)
58
-
endif()
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-
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-
if(NOT EIGEN3_VERSION_OK)
61
-
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message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
63
-
"but at least version ${Eigen3_FIND_VERSION} is required")
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endif()
65
-
endmacro()
66
-
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if (EIGEN3_INCLUDE_DIR)
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-
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# in cache already
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_eigen3_check_version()
71
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set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
72
-
set(Eigen3_FOUND ${EIGEN3_VERSION_OK})
73
-
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-
else ()
75
-
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# search first if an Eigen3Config.cmake is available in the system,
77
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# if successful this would set EIGEN3_INCLUDE_DIR and the rest of
78
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# the script will work as usual
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find_package(Eigen3 ${Eigen3_FIND_VERSION} NO_MODULE QUIET)
80
-
81
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if(NOT EIGEN3_INCLUDE_DIR)
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-
find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
83
-
HINTS
84
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ENV EIGEN3_ROOT
85
-
ENV EIGEN3_ROOT_DIR
86
-
PATHS
87
-
${CMAKE_INSTALL_PREFIX}/include
88
-
${KDE4_INCLUDE_DIR}
89
-
PATH_SUFFIXES eigen3 eigen
90
-
)
91
-
endif()
92
-
93
-
if(EIGEN3_INCLUDE_DIR)
94
-
_eigen3_check_version()
95
-
endif()
96
-
97
-
include(FindPackageHandleStandardArgs)
98
-
find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
99
-
100
-
mark_as_advanced(EIGEN3_INCLUDE_DIR)
101
-
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-
endif()
103
-
104
-
if(EIGEN3_FOUND AND NOT TARGET Eigen3::Eigen)
105
-
add_library(Eigen3::Eigen INTERFACE IMPORTED)
106
-
set_target_properties(Eigen3::Eigen PROPERTIES
107
-
INTERFACE_INCLUDE_DIRECTORIES "${EIGEN3_INCLUDE_DIR}")
108
-
endif()
+1
-2
src/xrt/auxiliary/math/CMakeLists.txt
+1
-2
src/xrt/auxiliary/math/CMakeLists.txt
···
46
46
)
47
47
target_link_libraries(
48
48
aux_math
49
-
PUBLIC aux-includes aux_util
49
+
PUBLIC aux-includes aux_util Eigen3::Eigen
50
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PRIVATE xrt-optimized-math
51
51
)
52
-
target_include_directories(aux_math SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIR})
53
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54
53
if(MSVC)
55
54
get_target_property(options aux_math COMPILE_OPTIONS)
-1
src/xrt/auxiliary/tracking/CMakeLists.txt
-1
src/xrt/auxiliary/tracking/CMakeLists.txt
-3
src/xrt/auxiliary/util/CMakeLists.txt
-3
src/xrt/auxiliary/util/CMakeLists.txt
+1
-2
src/xrt/drivers/CMakeLists.txt
+1
-2
src/xrt/drivers/CMakeLists.txt
···
279
279
rift_s/rift_s.c
280
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rift_s/rift_s.h
281
281
)
282
-
target_include_directories(drv_rift_s SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIR})
283
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target_link_libraries(
284
283
drv_rift_s
285
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PRIVATE
···
354
353
hand_async
355
354
)
356
355
357
-
target_include_directories(drv_ht PRIVATE ${OpenCV_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
356
+
target_include_directories(drv_ht PRIVATE ${OpenCV_INCLUDE_DIRS})
358
357
list(APPEND ENABLED_DRIVERS ht)
359
358
endif()
360
359
+5
-5
src/xrt/targets/openxr_android/build.gradle
+5
-5
src/xrt/targets/openxr_android/build.gradle
···
81
81
into eigenUnpackDir
82
82
}
83
83
84
-
if (!(new File(project.file(project.eigenIncludeDir), "Eigen/Core")).exists()) {
85
-
println "project.eigenIncludeDir not set or not valid, so downloading Eigen at build time"
86
-
project.ext.eigenIncludeDir = "${eigenUnpackDir}/eigen-${project.eigenFetchVersion}"
84
+
if (!(new File(project.file(project.eigenCMakeDir), "Eigen3Config.cmake")).exists()) {
85
+
println "project.eigenCMakeDir not set or not valid, so downloading Eigen at build time"
86
+
project.ext.eigenCMakeDir = "${eigenUnpackDir}/eigen-${project.eigenFetchVersion}/cmake"
87
87
} else {
88
-
println "Using Eigen as specified/detected in project.eigenIncludeDir: ${project.eigenIncludeDir}"
88
+
println "Using Eigen as specified/detected in project.eigenCMakeDir: ${project.eigenCMakeDir}"
89
89
downloadEigen.enabled = false
90
90
unpackEigen.enabled = false
91
91
}
···
176
176
177
177
externalNativeBuild {
178
178
cmake {
179
-
arguments "-DEIGEN3_INCLUDE_DIR=${project.eigenIncludeDir}",
179
+
arguments "-DEigen3_DIR=${project.eigenCMakeDir}",
180
180
"-DANDROID_PLATFORM=${project.sharedMinSdk}",
181
181
"-DANDROID_STL=${project.stl}",
182
182
"-DANDROID_ARM_NEON=TRUE"
+3
-10
src/xrt/tracking/hand/mercury/CMakeLists.txt
+3
-10
src/xrt/tracking/hand/mercury/CMakeLists.txt
···
12
12
13
13
target_link_libraries(t_ht_mercury_model PRIVATE aux_math aux_tracking aux_os aux_util)
14
14
15
-
target_include_directories(
16
-
t_ht_mercury_model SYSTEM PRIVATE ${OpenCV_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR}
17
-
)
18
-
15
+
target_include_directories(t_ht_mercury_model SYSTEM PRIVATE ${OpenCV_INCLUDE_DIRS})
19
16
target_link_libraries(
20
17
t_ht_mercury_model
21
18
PRIVATE
···
33
30
34
31
target_link_libraries(t_ht_mercury_distorter PRIVATE aux_math aux_tracking aux_os aux_util)
35
32
36
-
target_include_directories(
37
-
t_ht_mercury_distorter SYSTEM PRIVATE ${OpenCV_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR}
38
-
)
33
+
target_include_directories(t_ht_mercury_distorter SYSTEM PRIVATE ${OpenCV_INCLUDE_DIRS})
39
34
40
35
target_link_libraries(
41
36
t_ht_mercury_distorter
···
71
66
target_include_directories(t_ht_mercury INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
72
67
73
68
if(XRT_HAVE_OPENCV)
74
-
target_include_directories(
75
-
t_ht_mercury SYSTEM PRIVATE ${OpenCV_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR}
76
-
)
69
+
target_include_directories(t_ht_mercury SYSTEM PRIVATE ${OpenCV_INCLUDE_DIRS})
77
70
target_link_libraries(t_ht_mercury PUBLIC ${OpenCV_LIBRARIES})
78
71
endif()
79
72
-2
src/xrt/tracking/hand/mercury/kine_lm/CMakeLists.txt
-2
src/xrt/tracking/hand/mercury/kine_lm/CMakeLists.txt
-3
tests/CMakeLists.txt
-3
tests/CMakeLists.txt
···
68
68
target_link_libraries(tests_quat_swing_twist PRIVATE aux_math)
69
69
target_link_libraries(tests_vec3_angle PRIVATE aux_math)
70
70
71
-
target_include_directories(tests_quat_change_of_basis SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIR})
72
-
target_include_directories(tests_quat_swing_twist SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIR})
73
-
74
71
if(XRT_BUILD_DRIVER_HANDTRACKING)
75
72
target_link_libraries(
76
73
tests_levenbergmarquardt