Bump vendored Eigen to 5.0.1

CHANGELOG.md

@@ -13,7 +13,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
---
+- Bumped vendored Eigen to version 5.0.1 (from 3.4.0)
+- Patched vendored Ceres Solver 2.2.0 for Eigen 5.x compatibility
 
 ### Deprecated
 

ceres-solver-src/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "ceres-solver-src"
-version = "0.5.0+ceres2.2.0-eigen3.4.0-glog0.7.1"
+version = "0.5.0+ceres2.2.0-eigen5.0.1-glog0.7.1"
 edition = "2024"
 links = "ceres"
 readme = "README.md"

ceres-solver-src/build.rs

@@ -1,5 +1,7 @@
 use std::env;
+use std::fs;
 use std::path::{Path, PathBuf};
+use std::process::Command;
 
 #[derive(Debug)]
 struct DstDirs {
@@ -63,12 +65,77 @@ fn install_glog(vendor_dir: &Path) -> DstDirs {
     }
 }
 
-fn install_ceres(vendor_dir: &Path) -> DstDirs {
+fn apply_patches(src_dir: &Path, patches_dir: &Path) {
+    if !patches_dir.exists() {
+        return;
+    }
+
+    let mut patches: Vec<_> = fs::read_dir(patches_dir)
+        .expect("Failed to read patches directory")
+        .filter_map(|entry| entry.ok())
+        .filter(|entry| {
+            entry
+                .path()
+                .extension()
+                .map(|ext| ext == "patch")
+                .unwrap_or(false)
+        })
+        .map(|entry| entry.path())
+        .collect();
+
+    patches.sort();
+
+    for patch_path in patches {
+        println!("cargo:warning=Applying patch: {}", patch_path.display());
+
+        // Try to apply the patch with --forward, which skips already applied patches
+        let output = Command::new("patch")
+            .arg("-p1")
+            .arg("-d")
+            .arg(src_dir)
+            .arg("-i")
+            .arg(&patch_path)
+            .arg("--forward")
+            .arg("--reject-file=-")
+            .output()
+            .expect("Failed to execute patch command");
+
+        // Check if patch failed (exit code != 0) and it's not because patch was already applied
+        if !output.status.success() {
+            let stdout = String::from_utf8_lossy(&output.stdout);
+            let stderr = String::from_utf8_lossy(&output.stderr);
+            let combined = format!("{}{}", stdout, stderr);
+
+            // If the error is NOT "Reversed (or previously applied) patch detected", then panic
+            if !combined.contains("Reversed (or previously applied) patch detected") {
+                eprintln!("Patch stdout: {}", stdout);
+                eprintln!("Patch stderr: {}", stderr);
+                panic!("Failed to apply patch: {}", patch_path.display());
+            }
+            // Otherwise, the patch was already applied, which is fine
+            println!(
+                "cargo:warning=Patch already applied: {}",
+                patch_path.display()
+            );
+        }
+    }
+}
+
+fn install_ceres(vendor_dir: &Path, manifest_dir: &Path) -> DstDirs {
     let src_dir = {
         let mut dir = vendor_dir.to_owned();
         dir.push("ceres-solver");
         dir
     };
+
+    let patches_dir = {
+        let mut dir = manifest_dir.to_owned();
+        dir.push("patches");
+        dir
+    };
+
+    apply_patches(&src_dir, &patches_dir);
+
     let dst = cmake::Config::new(src_dir)
         .profile("Release")
         .pic(true)
@@ -106,13 +173,12 @@ fn install_ceres(vendor_dir: &Path) -> DstDirs {
 }
 
 fn main() {
-    let vendor_dir: PathBuf = [env::var("CARGO_MANIFEST_DIR").unwrap(), "vendor".into()]
-        .into_iter()
-        .collect();
+    let manifest_dir = PathBuf::from(env::var("CARGO_MANIFEST_DIR").unwrap());
+    let vendor_dir = manifest_dir.join("vendor");
 
     let eigen_dirs = install_eigen(&vendor_dir);
     let glog_dirs = install_glog(&vendor_dir);
-    let ceres_dirs = install_ceres(&vendor_dir);
+    let ceres_dirs = install_ceres(&vendor_dir, &manifest_dir);
 
     println!(
         "cargo:rustc-link-search=native={}",

ceres-solver-src/patches/0001-support-eigen-5.patch

@@ -0,0 +1,74 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 8e49c19e..44d98d53 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -180,9 +180,34 @@ endif (IOS)
+
+ unset(CERES_COMPILE_OPTIONS)
+
++# We call find_package multiple time with different versioning scheme to support
++# both Eigen3 3.x and 5.x. If the first invocation fails and Eigen3_DIR was set
++# to a possible location, e.g., during cross-compilation, failure to locate the
++# package will unset the variable. To avoid losing the path hint, we save it and
++# reuse it in the second find_package call.
++set (_Ceres_Eigen3_DIR)
++
++if (Eigen3_DIR)
++  set (_Ceres_Eigen3_DIR "${Eigen3_DIR}")
++endif (Eigen3_DIR)
++
+ # Eigen.
+ # Eigen delivers Eigen3Config.cmake since v3.3.3
+-find_package(Eigen3 3.3 REQUIRED)
++find_package(Eigen3 3.3...5 NO_MODULE)
++
++if (NOT Eigen3_FOUND)
++  if (_Ceres_Eigen3_DIR)
++    set (Eigen3_DIR "${_Ceres_Eigen3_DIR}")
++  endif (_Ceres_Eigen3_DIR)
++  # Eigen3's CMake package config prior to 5.0.0 does not support version ranges
++  # with different major version components. To ensure backward compatibility,
++  # we locate the package using the previous version scheme as a fallback
++  # mechanism.
++  find_package(Eigen3 3.3 REQUIRED NO_MODULE)
++endif (NOT Eigen3_FOUND)
++
++unset (_Ceres_Eigen3_DIR)
++
+ if (Eigen3_FOUND)
+   message("-- Found Eigen version ${Eigen3_VERSION}: ${Eigen3_DIR}")
+   if (CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*)" AND
+diff --git a/internal/ceres/covariance_impl.cc b/internal/ceres/covariance_impl.cc
+index 6e8362da..deb0ce12 100644
+--- a/internal/ceres/covariance_impl.cc
++++ b/internal/ceres/covariance_impl.cc
+@@ -723,8 +723,13 @@ bool CovarianceImpl::ComputeCovarianceValuesUsingDenseSVD() {
+   }
+   event_logger.AddEvent("ConvertToDenseMatrix");
+
++#if EIGEN_VERSION_AT_LEAST(5, 0, 0)
++  Eigen::BDCSVD<Matrix, Eigen::ComputeThinU | Eigen::ComputeThinV> svd(
++      dense_jacobian);
++#else   // !EIGEN_VERSION_AT_LEAST(5, 0, 0)
+   Eigen::BDCSVD<Matrix> svd(dense_jacobian,
+                             Eigen::ComputeThinU | Eigen::ComputeThinV);
++#endif  // EIGEN_VERSION_AT_LEAST(5, 0, 0)
+
+   event_logger.AddEvent("SingularValueDecomposition");
+
+diff --git a/internal/ceres/invert_psd_matrix.h b/internal/ceres/invert_psd_matrix.h
+index bc749009..34a46982 100644
+--- a/internal/ceres/invert_psd_matrix.h
++++ b/internal/ceres/invert_psd_matrix.h
+@@ -68,7 +68,11 @@ typename EigenTypes<kSize, kSize>::Matrix InvertPSDMatrix(
+
+   // For a thin SVD the number of columns of the matrix need to be dynamic.
+   using SVDMType = typename EigenTypes<kSize, Eigen::Dynamic>::Matrix;
++#if EIGEN_VERSION_AT_LEAST(5, 0, 0)
++  Eigen::JacobiSVD<SVDMType, Eigen::ComputeThinU | Eigen::ComputeThinV> svd(m);
++#else   // !EIGEN_VERSION_AT_LEAST(5, 0, 0)
+   Eigen::JacobiSVD<SVDMType> svd(m, Eigen::ComputeThinU | Eigen::ComputeThinV);
++#endif  // EIGEN_VERSION_AT_LEAST(5, 0, 0)
+   return svd.solve(MType::Identity(size, size));
+ }
+