I like at least 12 pixels! Not megapixels... Just pixels
I would say 2, that is enough to detect an edge!
Serious answer, is it depends. It depends in lots of actors: how big do you want print, how close will you be to that print, how much do you want to crop, how good is your vision, what are you photographing, what sensor size does the camera have, how good is the lens?
Some pointers:
A) HD TV is only 2MP final output, 4K is about 8MP.
B) however, the above is full RGB pixels, a stills camera only records a single channel per a pixel and interpolates across. Therefore, a real equivalence to 4K would be 24MP
C) for prints of high quality you want to print at 300DPI
D) when you print really big then you end up viewing from further away so you don't need such print density.
E) not all MP are equal. 12MP from a Full frame DSLR camera will beat 12MP from a crop DSLR, which will beat 12Mp from a m43 camera, which will beat 12MP from a compact, which will beat 12MP from a phone.
F) over sampling and reducing in post will increase quality, e.g. If you want a great 12MP image then shooting at 24 or better still 36MP and downsampling will give better results.
G) higher mega pixels will let you crop in post which has advantages, but proper framing will give better results.