add gtsam

recipes/gtsam/bld.bat

@@ -0,0 +1,12 @@
+mkdir build
+cd build
+
+cmake .. ${CMAKE_ARGS} ^
+	-GNinja ^
+	-DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ^
+	-DGTSAM_USE_SYSTEM_EIGEN=ON ^
+	-DGTSAM_INSTALL_CPPUNITLITE=OFF
+
+ninja install
+
+@rem ninja check

recipes/gtsam/build.sh

@@ -0,0 +1,12 @@
+mkdir build
+cd build
+
+cmake .. ${CMAKE_ARGS} \
+	-GNinja \
+	-DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
+	-DGTSAM_USE_SYSTEM_EIGEN=ON \
+	-DGTSAM_INSTALL_CPPUNITLITE=OFF
+
+ninja install
+
+ninja check

recipes/gtsam/meta.yaml

@@ -0,0 +1,48 @@
+{% set name = "gtsam" %}
+{% set version = "4.0.3" %}
+
+package:
+  name: gtsam
+  version: '{{ version }}'
+
+source:
+  url: https://github.com/borglab/gtsam/archive/refs/tags/{{ version }}.tar.gz
+  sha256: eaa561749edf7a2d402981828253e28aed6c717dae35738301c5ab23e2595f25
+  patches:
+    - unvendor-ceres.patch
+    - nobuild-examples-timing.patch
+
+build:
+  number: 0
+  run_exports:
+    - '{{ pin_subpackage(name, max_pin="x.x") }}'
+
+requirements:
+  build:
+    - '{{ compiler("c") }}'
+    - '{{ compiler("cxx") }}'
+    - ninja
+    - cmake
+  host:
+    - boost-cpp 1.76
+    - eigen
+    - geographiclib-cpp
+    - ceres-solver
+    - metis
+    - suitesparse
+# test:
+#   files:
+#   - test/hello_world.xar
+
+
+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
+  license_file:
+    - LICENSE
+    - LICENSE.BSD
+
+extra:
+  recipe-maintainers:
+    - wolfv

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/autodiff.h>
+
+ #include <boost/static_assert.hpp>
+ #include <boost/type_traits/is_base_of.hpp>