Merge pull request #17997 from Tobias-Fischer/gtsam_4.0.3_with_boost_…

…1.7.6

Add gtsam - take 3

recipes/gtsam/bld.bat

@@ -0,0 +1,20 @@
+mkdir build
+cd build
+
+cmake ^
+    -GNinja ^
+    -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ^
+    -DGTSAM_USE_SYSTEM_EIGEN=ON ^
+    -DGTSAM_INSTALL_CPPUNITLITE=OFF ^
+    -DGTSAM_BUILD_PYTHON=ON ^
+    -DBoost_USE_STATIC_LIBS=OFF ^
+    -DBOOST_ROOT="%LIBRARY_PREFIX%" ^
+    -DBoost_NO_SYSTEM_PATHS=ON ^
+    -DPython3_EXECUTABLE=%PYTHON% ^
+    -DPython_EXECUTABLE=%PYTHON% ^
+    -DPYTHON_EXECUTABLE=%PYTHON% ^
+    %SRC_DIR%
+
+ninja install
+
+@rem ninja check

recipes/gtsam/build.sh

@@ -0,0 +1,16 @@
+mkdir build
+cd build
+
+cmake .. ${CMAKE_ARGS} \
+        -GNinja \
+        -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
+        -DGTSAM_USE_SYSTEM_EIGEN=ON \
+        -DGTSAM_INSTALL_CPPUNITLITE=OFF \
+        -DGTSAM_BUILD_PYTHON=ON \
+        -DPython3_EXECUTABLE=$PYTHON \
+        -DPython_EXECUTABLE=$PYTHON \
+        -DPYTHON_EXECUTABLE=$PYTHON
+
+ninja install
+
+ninja check

recipes/gtsam/fix-boost.patch

@@ -0,0 +1,36 @@
+diff --git a/gtsam/base/serialization.h b/gtsam/base/serialization.h
+index 24355c684..e615afe83 100644
+--- a/gtsam/base/serialization.h
++++ b/gtsam/base/serialization.h
+@@ -25,6 +25,7 @@
+ #include <string>
+
+ // includes for standard serialization types
++#include <boost/serialization/version.hpp>
+ #include <boost/serialization/optional.hpp>
+ #include <boost/serialization/shared_ptr.hpp>
+ #include <boost/serialization/vector.hpp>
+diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
+index 54b9d955f..a737c5cc8 100644
+--- a/gtsam/linear/NoiseModel.h
++++ b/gtsam/linear/NoiseModel.h
+@@ -27,6 +27,7 @@
+ #include <boost/serialization/extended_type_info.hpp>
+ #include <boost/serialization/singleton.hpp>
+ #include <boost/serialization/shared_ptr.hpp>
++#include <boost/serialization/version.hpp>
+ #include <boost/serialization/optional.hpp>
+
+ namespace gtsam {
+diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
+index ddf56b289..f128bd124 100644
+--- a/gtsam/slam/SmartFactorBase.h
++++ b/gtsam/slam/SmartFactorBase.h
+@@ -30,6 +30,7 @@
+ #include <gtsam/geometry/CameraSet.h>
+
+ #include <boost/optional.hpp>
++#include <boost/serialization/version.hpp>
+ #include <boost/serialization/optional.hpp>
+ #include <boost/make_shared.hpp>
+ #include <vector>

recipes/gtsam/meta.yaml

@@ -0,0 +1,70 @@
+{% set name = "gtsam" %}
+{% set version = "4.1.1" %}
+
+package:
+  name: gtsam
+  version: '{{ version }}'
+
+source:
+  url: https://github.com/borglab/gtsam/archive/refs/tags/{{ version }}.tar.gz
+  sha256: c7b5e6cdad52b141c272778f47baf628975457be3e26ed96a7bc2ae685a00af0
+  patches:
+    - nobuild-examples-timing.patch
+    - fix-boost.patch
+build:
+  number: 0
+  skip: True  # [win]
+  run_exports:
+    - '{{ pin_subpackage(name, max_pin="x.x") }}'
+
+requirements:
+  build:
+    - '{{ compiler("c") }}'
+    - '{{ compiler("cxx") }}'
+    - ninja
+    - cmake
+    - pybind11                               # [build_platform != target_platform]
+    - numpy                                  # [build_platform != target_platform]
+    - python                                 # [build_platform != target_platform]
+  host:
+    - python
+    - boost-cpp
+    - eigen
+    - geographiclib-cpp
+    - metis
+    - suitesparse
+    - tbb
+    - tbb-devel
+    - pybind11
+    - pyparsing
+    - numpy
+  run:
+    - python
+    - pyparsing
+    - numpy
+    - boost-cpp
+
+test:
+  commands:
+    - test -f ${PREFIX}/lib/libgtsam${SHLIB_EXT}  # [not win]
+    - test -f ${PREFIX}/lib/cmake/gtwrap/gtwrapConfig.cmake  # [not win]
+    - test -f ${PREFIX}/lib/cmake/GTSAM/GTSAMConfig.cmake  # [not win]
+    - test -f ${PREFIX}/include/gtsam/base/types.h  # [not win]
+    - if exist %PREFIX%\\Library\\include\\gtsam\\base\\types.h (exit 0) else (exit 1)  # [win]
+    - if exist $PREFIX$\\Library\\lib\\gtsam.lib (exit 0) else (exit 1)  # [win]
+    - if exist $PREFIX$\\Library\\bin\\gtsam.dll (exit 0) else (exit 1)  # [win]
+
+
+about:
+  home: https://github.com/borglab/gtsam
+  summary: GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision
+  license: BSD-3-Clause
+  license_file:
+    - LICENSE
+    - LICENSE.BSD
+
+extra:
+  recipe-maintainers:
+    - wolfv
+    - ameysutavani
+    - TobiasFischer

recipes/gtsam/nobuild-examples-timing.patch

@@ -0,0 +1,17 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index edefbf2ea..45e1e3d79 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -435,10 +435,10 @@ add_subdirectory(gtsam)
+ add_subdirectory(tests)
+
+ # Build examples
+-add_subdirectory(examples)
++# add_subdirectory(examples)
+
+ # Build timing
+-add_subdirectory(timing)
++# add_subdirectory(timing)
+
+ # Build gtsam_unstable
+ if (GTSAM_BUILD_UNSTABLE)

recipes/gtsam/unvendor-ceres.patch

@@ -0,0 +1,41 @@
+diff --git a/gtsam/3rdparty/CMakeLists.txt b/gtsam/3rdparty/CMakeLists.txt
+index c8fecc339..419100863 100644
+--- a/gtsam/3rdparty/CMakeLists.txt
++++ b/gtsam/3rdparty/CMakeLists.txt
+@@ -53,7 +53,9 @@ if(GTSAM_SUPPORT_NESTED_DISSECTION)
+ 	add_subdirectory(metis)
+ endif()
+
+-add_subdirectory(ceres)
++# add_subdirectory(ceres)
++find_package(Ceres REQUIRED)
++include_directories(${CERES_INCLUDE_DIRS})
+
+ ############ NOTE:  When updating GeographicLib be sure to disable building their examples
+ ############        and unit tests by commenting out their lines:
+diff --git a/gtsam/3rdparty/ceres/example.h b/gtsam/3rdparty/ceres/example.h
+index 6b051fce0..a3168fdb4 100644
+--- a/gtsam/3rdparty/ceres/example.h
++++ b/gtsam/3rdparty/ceres/example.h
+@@ -33,7 +33,7 @@
+
+ #pragma once
+
+-#include <gtsam/3rdparty/ceres/rotation.h>
++#include <ceres/rotation.h>
+
+ // Templated pinhole camera model for used with Ceres. The camera is
+ // parameterized using 9 parameters: 3 for rotation, 3 for translation, 1 for
+diff --git a/gtsam/nonlinear/AdaptAutoDiff.h b/gtsam/nonlinear/AdaptAutoDiff.h
+index 682cca29a..a8ce86dd4 100644
+--- a/gtsam/nonlinear/AdaptAutoDiff.h
++++ b/gtsam/nonlinear/AdaptAutoDiff.h
+@@ -20,7 +20,7 @@
+
+ #include <gtsam/base/VectorSpace.h>
+ #include <gtsam/base/OptionalJacobian.h>
+-#include <gtsam/3rdparty/ceres/autodiff.h>
++#include <ceres/internal/autodiff.h>
+
+ #include <boost/static_assert.hpp>
+ #include <boost/type_traits/is_base_of.hpp>