Support building with Eigen3 5.0.0

.github/workflows/main.yml

@@ -33,11 +33,6 @@ jobs:
             access: col_major
             ensure: default_panic
             compiler: gcc
-          - test: unit_tests
-            os: macos-13
-            access: col_major
-            ensure: default_panic
-            compiler: clang
           - test: unit_tests
             os: macos-14
             access: col_major
@@ -95,7 +90,7 @@ jobs:
 
       - name: Install dependencies (Mac OS incl. Ceres)
         run: ./scripts/install_osx_deps_incl_ceres.sh
-        if: matrix.os == 'macos-14' || matrix.os == 'macos-13'
+        if: matrix.os == 'macos-14'
 
       - name: Build (gcc) and run tests
         run: ./scripts/run_cpp_tests_gcc.sh

CMakeLists.txt

@@ -49,7 +49,10 @@ endif()
 # example defined by a parent project including Sophus via `add_subdirectory`.)
 
 if(NOT TARGET Eigen3::Eigen)
-  find_package(Eigen3 3.4.0 REQUIRED)
+  find_package(Eigen3 3.4...5 QUIET)
+  if(NOT Eigen3_FOUND)
+    find_package(Eigen3 3.4.0 REQUIRED)
+  endif()
 endif()
 
 # Define interface library target

scripts/install_osx_deps_incl_ceres.sh

@@ -7,18 +7,20 @@ brew update
 brew install ccache
 
 # Get dependencies for Ceres Solver
+brew install abseil
 brew install eigen
 brew install gflags
 brew install glog
 brew install gcc
+brew install googletest
 brew install openblas
 brew install libomp
 brew install hwloc
 brew install tbb
 
 git clone https://ceres-solver.googlesource.com/ceres-solver ceres-solver
 cd ceres-solver
-git reset --hard 6a74af202d83cf31811ea17dc66c74d03b89d79e
+git reset --hard f9b7b6651b108136a16df44d91fb31735645f5a7
 mkdir target
 cd target
 ls