Fix CMake so that Eigen discovery and linking is consistent #1314
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dellaert
approved these changes
Oct 26, 2022
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I'll approve and merge because GTSAM is broken after $1304, but @jlblancoc please take a second look to see if you agree with the changes? We can always do another PR if not.
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This fixes the issue that was encountered after merging #1304 since that PR unearthed this subtle bug. Kudos to @OznOg for helping with this.
The issue is that Eigen is being
find_packaged twice, and if the first one is the system Eigen, it keeps using that even if the USE_SYSTEM_EIGEN flag is set to OFF.As a result, the version set by CMake is the 3rdparty one, but GTSAM is compiled against the system Eigen, hence version mismatch.
Easy fix is to just not do the first
find_packagesince that is being used to set a default flag value (which is now OFF directly). KISS