Add Ceres Solver

CMakeLists.txt

@@ -1,5 +1,31 @@
 cmake_minimum_required(VERSION 3.5)
 
+# Require out-of-source builds as suggested on
+# https://cliutils.gitlab.io/modern-cmake/chapters/basics/structure.html
+file(TO_CMAKE_PATH "${PROJECT_BINARY_DIR}/CMakeLists.txt" LOC_PATH)
+if(EXISTS "${LOC_PATH}")
+    message(FATAL_ERROR "You cannot build in a source directory (or any directory with a CMakeLists.txt file). Please make a build subdirectory. Feel free to remove CMakeCache.txt and CMakeFiles.")
+endif()
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+
+# Use find_package everywhere, no-op if it's a target
+macro(find_package)
+	if(NOT TARGET ${ARGV0} AND NOT TARGET ${ARGV0}::${ARGV0})
+		_find_package(${ARGV})
+	else()
+		if(TARGET ${ARGV0}::${ARGV0})
+			get_target_property(TGT_VER ${ARGV0}::${ARGV0} VERSION)
+			set(TGT ${ARGV0}::${ARGV0})
+		else()
+			get_target_property(TGT_VER ${ARGV0} VERSION)
+			set(TGT ${ARGV0})
+		endif()
+		message(STATUS "Found ${ARGV0}: CMake Target ${TGT} (found version \"${TGT_VER}\")")
+		set(${ARGV0}_FOUND TRUE)
+	endif()
+endmacro()
+
 project(Windows-CalcEngine VERSION 1.0.33 LANGUAGES CXX)
 
 set(target_name ${PROJECT_NAME})
@@ -63,29 +89,11 @@ if( ${BUILD_WCE_OPTICAL} )
 	set( BUILD_WCE_VIEWER ON )
 endif()
 
-if( DOWNLOAD_GTEST STREQUAL ON ) # Do not need gtest since it will be processed by E+
-	# include(CMakeLists-GTest.txt)
-	configure_file(CMakeLists.txt.in ${CMAKE_CURRENT_BINARY_DIR}/googletest-download/CMakeLists.txt)
-	execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
-  		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download )
-	execute_process(COMMAND ${CMAKE_COMMAND} --build .
-  		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download )
-
-  	# Prevent GoogleTest from overriding our compiler/linker options
-	# when building with Visual Studio
-	set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
-
-	# Add googletest directly to our build. This adds
-	# the following targets: gtest, gtest_main, gmock
-	# and gmock_main
-	add_subdirectory(${CMAKE_CURRENT_BINARY_DIR}/googletest-src
-    	${CMAKE_CURRENT_BINARY_DIR}/googletest-build)
-
-	# Now simply link your own targets against gtest, gmock,
-	# etc. as appropriate
-
-    include_directories( ${CMAKE_CURRENT_BINARY_DIR}/googletest-src/include )
-endif ()
+set(CMAKE_VERBOSE_MAKEFILE ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+# Build Dependencies
+add_subdirectory(cmake)
 
 # foreach( _variableName ${SOURCES})
 #   message( STATUS "${_variableName}" )
@@ -207,4 +215,4 @@ else()
 
 endif()
 
-config_compiler_and_linker_wce()
+config_compiler_and_linker_wce()

cmake/CMakeLists.txt

@@ -0,0 +1,234 @@
+set(BUILD_SHARED_LIBS OFF)
+set(BUILD_TESTING OFF)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+############
+##	GTest	##
+############
+if( DOWNLOAD_GTEST STREQUAL ON ) # Do not need gtest since it will be processed by E+
+	configure_file(
+		"${CMAKE_CURRENT_SOURCE_DIR}/gtest.CMakeLists.txt.in"
+		"${CMAKE_BINARY_DIR}/gtest-download/CMakeLists.txt")
+	execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+		RESULT_VARIABLE result
+		WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/gtest-download" )
+	if(result)
+		message(FATAL_ERROR "CMake step for gtest failed: ${result}")
+	endif()
+	execute_process(COMMAND ${CMAKE_COMMAND} --build .
+		RESULT_VARIABLE result
+		WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/gtest-download" )
+	if(result)
+		message(FATAL_ERROR "Build step for gtest failed: ${result}")
+	endif()
+
+	set(gtest_NAMESPACE "gtest" CACHE INTERNAL "Namespace for gtest")
+
+		# Prevent GoogleTest from overriding our compiler/linker options
+	# when building with Visual Studio
+	set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+
+	# Add googletest directly to our build. This adds
+	# the following targets: gtest, gtest_main, gmock
+	# and gmock_main
+	add_subdirectory( "${CMAKE_BINARY_DIR}/gtest-src" "${CMAKE_BINARY_DIR}/gtest-build" EXCLUDE_FROM_ALL )
+
+	# Now simply link your own targets against gtest, gmock,
+	# etc. as appropriate
+	include_directories(
+		"${CMAKE_BINARY_DIR}/cmake/gtest-build/googletest/include"
+		"${CMAKE_BINARY_DIR}/cmake/gtest-build/googlemock/include")
+
+	# Keep the `CACHE` clean as suggested on
+	# https://cliutils.gitlab.io/modern-cmake/chapters/testing/googletest.html
+	mark_as_advanced(
+		BUILD_GMOCK BUILD_GTEST BUILD_SHARED_LIBS
+		gmock_build_tests gtest_build_samples gtest_build_tests
+		gtest_disable_pthreads gtest_force_shared_crt gtest_hide_internal_symbols
+	)
+
+	message(STATUS "Subproject: Gflag...DONE")
+endif ()
+
+##############
+##	GFLAGS	##
+##############
+message(STATUS "Subproject: GFlags...")
+# Download and unpack gflags at configure time
+configure_file(
+	"${CMAKE_CURRENT_SOURCE_DIR}/gflags.CMakeLists.txt.in"
+	"${CMAKE_BINARY_DIR}/gflags-download/CMakeLists.txt")
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+	RESULT_VARIABLE result
+	WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/gflags-download")
+if(result)
+	message(FATAL_ERROR "CMake step for gflags failed: ${result}")
+endif()
+execute_process(COMMAND ${CMAKE_COMMAND} --build .
+	RESULT_VARIABLE result
+	WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/gflags-download")
+if(result)
+	message(FATAL_ERROR "Build step for gflags failed: ${result}")
+endif()
+
+set(GFLAGS_NAMESPACE "gflags")
+set(GFLAGS_INSTALL_STATIC_LIBS ON)
+set(GFLAGS_INSTALL_HEADERS ON)
+#set(GFLAGS_IS_SUBPROJECT TRUE)
+add_subdirectory( "${CMAKE_BINARY_DIR}/gflags-src" "${CMAKE_BINARY_DIR}/gflags-build" EXCLUDE_FROM_ALL )
+message(STATUS "Subproject: Gflag...DONE")
+
+############
+##	GLOG	##
+############
+message(STATUS "Subproject: GLog...")
+# Download and unpack glog at configure time
+configure_file(
+	"${CMAKE_CURRENT_SOURCE_DIR}/glog.CMakeLists.txt.in"
+	"${CMAKE_BINARY_DIR}/glog-download/CMakeLists.txt")
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+	RESULT_VARIABLE result
+	WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/glog-download")
+if(result)
+	message(FATAL_ERROR "CMake step for glog failed: ${result}")
+endif()
+execute_process(COMMAND ${CMAKE_COMMAND} --build .
+	RESULT_VARIABLE result
+	WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/glog-download")
+if(result)
+	message(FATAL_ERROR "Build step for glog failed: ${result}")
+endif()
+
+set(gflags_NAMESPACE "gflags" CACHE INTERNAL "Namespace for gflags")
+add_subdirectory( "${CMAKE_BINARY_DIR}/glog-src" "${CMAKE_BINARY_DIR}/glog-build" EXCLUDE_FROM_ALL )
+message(STATUS "Subproject: Glog...DONE")
+
+############
+##	BLAS	##
+############
+message(STATUS "Subproject: BLAS...")
+# Download and unpack BLAS at configure time
+configure_file(
+	"${CMAKE_CURRENT_SOURCE_DIR}/blas.CMakeLists.txt.in"
+	"${CMAKE_BINARY_DIR}/blas-download/CMakeLists.txt")
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+	RESULT_VARIABLE result
+	WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/blas-download")
+if(result)
+	message(FATAL_ERROR "CMake step for blas failed: ${result}")
+endif()
+execute_process(COMMAND ${CMAKE_COMMAND} --build .
+	RESULT_VARIABLE result
+	WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/blas-download")
+if(result)
+	message(FATAL_ERROR "Build step for blas failed: ${result}")
+endif()
+
+set(blas_NAMESPACE "blas" CACHE INTERNAL "Namespace for BLAS")
+add_subdirectory( "${CMAKE_BINARY_DIR}/blas-src" "${CMAKE_BINARY_DIR}/blas-build" EXCLUDE_FROM_ALL )
+message(STATUS "Subproject: blas...DONE")
+
+##############
+##	LAPACK	##
+##############
+message(STATUS "Subproject: LAPACK...")
+# Download and unpack LAPACK at configure time
+configure_file(
+	"${CMAKE_CURRENT_SOURCE_DIR}/lapack.CMakeLists.txt.in"
+	"${CMAKE_BINARY_DIR}/lapack-download/CMakeLists.txt")
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+	RESULT_VARIABLE result
+	WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/lapack-download")
+if(result)
+	message(FATAL_ERROR "CMake step for lapack failed: ${result}")
+endif()
+execute_process(COMMAND ${CMAKE_COMMAND} --build .
+	RESULT_VARIABLE result
+	WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/lapack-download")
+if(result)
+	message(FATAL_ERROR "Build step for lapack failed: ${result}")
+endif()
+
+set(lapack_NAMESPACE "lapack" CACHE INTERNAL "Namespace for LAPACK")
+add_subdirectory( "${CMAKE_BINARY_DIR}/lapack-src" "${CMAKE_BINARY_DIR}/lapack-build" EXCLUDE_FROM_ALL )
+message(STATUS "Subproject: lapack...DONE")
+
+#############
+##	Eigen	##
+#############
+message(STATUS "Subproject: Eigen...")
+# Download and unpack Eigen at configure time
+configure_file(
+	"${CMAKE_CURRENT_SOURCE_DIR}/eigen.CMakeLists.txt.in"
+	"${CMAKE_BINARY_DIR}/eigen-download/CMakeLists.txt")
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+	RESULT_VARIABLE result
+	WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/eigen-download")
+if(result)
+	message(FATAL_ERROR "CMake step for eigen failed: ${result}")
+endif()
+execute_process(COMMAND ${CMAKE_COMMAND} --build .
+	RESULT_VARIABLE result
+	WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/eigen-download")
+if(result)
+	message(FATAL_ERROR "Build step for eigen failed: ${result}")
+endif()
+
+set(eigen_NAMESPACE "eigen" CACHE INTERNAL "Namespace for Eigen")
+add_subdirectory( "${CMAKE_BINARY_DIR}/eigen-src" "${CMAKE_BINARY_DIR}/eigen-build" EXCLUDE_FROM_ALL )
+message(STATUS "Subproject: eigen...DONE")
+
+##################
+##	SuiteSparse	##
+##################
+# message(STATUS "Subproject: SuiteSparse...")
+# # Download and unpack SuiteSparse at configure time
+# configure_file(
+# 	"${CMAKE_CURRENT_SOURCE_DIR}/suitesparse.CMakeLists.txt.in"
+# 	"${CMAKE_BINARY_DIR}/suitesparse-download/CMakeLists.txt")
+# execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+# 	RESULT_VARIABLE result
+# 	WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/suitesparse-download")
+# if(result)
+# 	message(FATAL_ERROR "CMake step for suitesparse failed: ${result}")
+# endif()
+# execute_process(COMMAND ${CMAKE_COMMAND} --build .
+# 	RESULT_VARIABLE result
+# 	WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/suitesparse-download")
+# if(result)
+# 	message(FATAL_ERROR "Build step for suitesparse failed: ${result}")
+# endif()
+#
+# set(suitesparse_NAMESPACE "suitesparse" CACHE INTERNAL "Namespace for SuiteSparse")
+# add_subdirectory( "${CMAKE_BINARY_DIR}/suitesparse-src" "${CMAKE_BINARY_DIR}/suitesparse-build" EXCLUDE_FROM_ALL )
+# message(STATUS "Subproject: suitesparse...DONE")
+
+####################
+##	Ceres Solver	##
+####################
+message(STATUS "Subproject: Ceres Solver...")
+# Download and unpack Ceres Solver at configure time
+configure_file(
+	"${CMAKE_CURRENT_SOURCE_DIR}/ceres.CMakeLists.txt.in"
+	"${CMAKE_BINARY_DIR}/ceres-download/CMakeLists.txt")
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+	RESULT_VARIABLE result
+	WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/ceres-download")
+if(result)
+	message(FATAL_ERROR "CMake step for ceres failed: ${result}")
+endif()
+execute_process(COMMAND ${CMAKE_COMMAND} --build .
+	RESULT_VARIABLE result
+	WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/ceres-download")
+if(result)
+	message(FATAL_ERROR "Build step for ceres failed: ${result}")
+endif()
+
+set(ceres_NAMESPACE "ceres" CACHE INTERNAL "Namespace for Ceres Solver")
+# Eigen's and Ceres' `uninstall` targets collide as both are added as
+# subdirectories. [Eigen's `uninstall` target cannot be
+# excluded](https://gitlab.com/libeigen/eigen/-/issues/1892). However, Ceres'
+# one can with `PROVIDE_UNINSTALL_TARGET`.
+set(PROVIDE_UNINSTALL_TARGET OFF)
+add_subdirectory( "${CMAKE_BINARY_DIR}/ceres-src" "${CMAKE_BINARY_DIR}/ceres-build" EXCLUDE_FROM_ALL )
+message(STATUS "Subproject: ceres...DONE")

cmake/blas.CMakeLists.txt.in

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.5)
+
+include(ExternalProject)
+
+project( blas-download NONE )
+
+ExternalProject_Add(BlasExternal
+    GIT_REPOSITORY https://github.com/icl-utk-edu/blaspp
+    GIT_TAG "v2023.11.05"
+
+    UPDATE_COMMAND ""
+    PATCH_COMMAND ""
+
+    SOURCE_DIR "${CMAKE_BINARY_DIR}/blas-src"
+    BINARY_DIR "${CMAKE_BINARY_DIR}/blas-build"
+
+    CONFIGURE_COMMAND ""
+    BUILD_COMMAND ""
+    INSTALL_COMMAND ""
+    TEST_COMMAND ""
+
+    LOG_DOWNLOAD ON
+)

cmake/ceres.CMakeLists.txt.in

@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.5)
+
+include(ExternalProject)
+
+project( ceres-solver-download NONE )
+
+ExternalProject_Add(CeresExternal
+    GIT_REPOSITORY https://github.com/ceres-solver/ceres-solver.git
+    GIT_TAG "2.2.0"
+
+    UPDATE_COMMAND ""
+    PATCH_COMMAND ""
+
+    SOURCE_DIR "${CMAKE_BINARY_DIR}/ceres-src"
+    BINARY_DIR "${CMAKE_BINARY_DIR}/ceres-build"
+
+    CONFIGURE_COMMAND ""
+    BUILD_COMMAND ""
+    TEST_COMMAND ""
+    INSTALL_COMMAND ""
+
+    LOG_DOWNLOAD ON
+
+    CMAKE_ARGS
+      -DCMAKE_C_FLAGS=-fPIC
+      -DCMAKE_CXX_FLAGS=-fPIC
+      -DBUILD_EXAMPLES=OFF
+      -DBUILD_TESTING=OFF
+      -DMINIGLOG=ON
+      -DMINIGLOG_MAX_LOG_LEVEL=-100
+      -DEIGEN_INCLUDE_PATH=${CMAKE_BINARY_DIR}/eigen-src
+      -DENABLE_PRECOMPILED_HEADERS=OFF
+)

cmake/eigen.CMakeLists.txt.in

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.12)
+
+include(ExternalProject)
+
+project( eigen-download NONE )
+
+ExternalProject_Add(EigenExternal
+    GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
+    GIT_TAG "3.4.0"
+
+    UPDATE_COMMAND ""
+    PATCH_COMMAND ""
+
+    SOURCE_DIR "${CMAKE_BINARY_DIR}/eigen-src"
+    BINARY_DIR "${CMAKE_BINARY_DIR}/eigen-build"
+
+    CONFIGURE_COMMAND ""
+    BUILD_COMMAND ""
+    TEST_COMMAND ""
+    INSTALL_COMMAND ""
+
+    LOG_DOWNLOAD ON
+)