diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index 1477cdc248844ab181e44194a77c04573381a155..dbf139b13a33b4b14ec3125cca2621f6c9e47381 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -1,4 +1,4 @@ -image: segaleran/ceres +image: labrobotica/ceres:1.14 before_script: - ls diff --git a/CMakeLists.txt b/CMakeLists.txt index f9c69b34a4912490c7128a5c9d4f302ddde88c54..d2dea5997d58c485a4c5b44ddddc16368aeeef84 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -116,12 +116,16 @@ ENDIF(BUILD_DEMOS OR BUILD_TESTS) #find dependencies. -FIND_PACKAGE(Eigen3 3.2.92 REQUIRED) FIND_PACKAGE(Threads REQUIRED) FIND_PACKAGE(Ceres REQUIRED) #Ceres is not required +FIND_PACKAGE(Eigen3 3.3 REQUIRED) +if(${EIGEN3_VERSION_STRING} VERSION_LESS 3.3) + message(FATAL_ERROR "Wolf requires Eigen >= 3.3. Found Eigen ${EIGEN3_VERSION_STRING}") +endif() + # YAML with yaml-cpp FIND_PACKAGE(YamlCpp REQUIRED) diff --git a/cmake_modules/wolfConfig.cmake b/cmake_modules/wolfConfig.cmake index 7556468eb89689ea49f9ab98c6d511c9efee0db3..74ede89df7d20ffdfe00d7cd669bce317fc501a9 100644 --- a/cmake_modules/wolfConfig.cmake +++ b/cmake_modules/wolfConfig.cmake @@ -91,6 +91,9 @@ list(APPEND wolf_LIBRARIES ${YAMLCPP_LIBRARY}) if(NOT Eigen3_FOUND) FIND_PACKAGE(Eigen3 REQUIRED) endif() +if(${EIGEN3_VERSION_STRING} VERSION_LESS 3.3) + message(FATAL_ERROR "Found Eigen ${EIGEN3_VERSION_STRING}. The minimum version required is Eigen 3.3") +endif() list(APPEND wolf_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS}) SET(CMAKE_MODULE_PATH ${BACKUP_MODULE_PATH})