ceres-solver: add support for SuiteSparse, CUDA, LAPACK and METIS

recipes/ceres-solver/all/FindSuiteSparse.cmake

@@ -0,0 +1,13 @@
+# Simplified replacement for https://github.com/ceres-solver/ceres-solver/blob/2.2.0/cmake/FindSuiteSparse.cmake
+
+find_package(CHOLMOD REQUIRED CONFIG)
+find_package(SPQR REQUIRED CONFIG)
+find_package(METIS CONFIG)
+
+add_library(SuiteSparse::Partition ALIAS SuiteSparse::CHOLMOD)
+
+set(SuiteSparse_FOUND TRUE)
+
+# For Ceres v1
+set(SUITESPARSE_FOUND TRUE)
+set(SUITESPARSE_LIBRARIES SuiteSparse::CHOLMOD SuiteSparse::SPQR)

recipes/ceres-solver/all/ceres-conan-cuda-support.cmake

@@ -0,0 +1,7 @@
+find_dependency(CUDAToolkit REQUIRED)
+
+set(_Ceres_CUDA_dependencies CUDA::cublas CUDA::cudart CUDA::cusolver CUDA::cusparse)
+target_link_libraries(Ceres::ceres INTERFACE ${_Ceres_CUDA_dependencies})
+if(TARGET Ceres::ceres_cuda_kernels)
+    target_link_libraries(Ceres::ceres_cuda_kernels INTERFACE ${_Ceres_CUDA_dependencies})
+endif()

recipes/ceres-solver/all/conandata.yml

@@ -26,13 +26,21 @@
     - patch_file: "patches/2.1.0-0002-fix-mingw-build.patch"
       patch_description: "Fix MinGW build"
       patch_type: "portability"
+    - patch_file: "patches/2.1.0-0004-suitesparse-compatibility.patch"
+      patch_description: "Enable compatibility with SuiteSparse 7.2.0"
+      patch_type: "backport"
+      patch_source: "https://github.com/ceres-solver/ceres-solver/commit/9cca671273c2f205ca7350422f48b7b119c5dd78"
   "2.0.0":
-    - patch_file: "patches/2.0.0-0001-find-libraries-conan.patch"
-      patch_description: "Robust dependencies handling"
-      patch_type: "conan"
     - patch_file: "patches/2.0.0-0002-fix-mingw-build.patch"
       patch_description: "Fix MinGW build"
       patch_type: "portability"
+    - patch_file: "patches/2.0.0-0001-find-libraries-conan.patch"
+      patch_description: "Robust dependencies handling"
+      patch_type: "conan"
+    - patch_file: "patches/2.0.0-0004-suitesparse-compatibility.patch"
+      patch_description: "Enable compatibility with SuiteSparse 7.2.0"
+      patch_type: "backport"
+      patch_source: "https://github.com/ceres-solver/ceres-solver/commit/9cca671273c2f205ca7350422f48b7b119c5dd78"
   "1.14.0":
     - patch_file: "patches/1.14.0-0001-find-libraries-conan.patch"
       patch_description: "Robust dependencies handling"
@@ -41,3 +49,7 @@
       patch_description: "Fix compilation with C++17 standard and above"
       patch_type: "portability"
       patch_source: "https://github.com/ceres-solver/ceres-solver/commit/1e8e9452d0a7dfaf5697b544810798a58e35443e"
+    - patch_file: "patches/1.14.0-0004-suitesparse-compatibility.patch"
+      patch_description: "Enable compatibility with SuiteSparse 7.2.0"
+      patch_type: "backport"
+      patch_source: "https://github.com/ceres-solver/ceres-solver/commit/9cca671273c2f205ca7350422f48b7b119c5dd78"

recipes/ceres-solver/all/patches/1.14.0-0001-find-libraries-conan.patch

@@ -1,6 +1,6 @@
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -209,40 +209,40 @@ endif (IOS)
+@@ -209,43 +209,43 @@
  unset(CERES_COMPILE_OPTIONS)
 
  # Eigen.
@@ -52,8 +52,43 @@
 +endif ()
 
  if (LAPACK)
-   find_package(LAPACK QUIET)
-@@ -376,13 +376,14 @@ else (MINIGLOG)
+-  find_package(LAPACK QUIET)
++  find_package(LAPACK REQUIRED)
+   if (LAPACK_FOUND)
+     message("-- Found LAPACK library: ${LAPACK_LIBRARIES}")
+   else (LAPACK_FOUND)
+@@ -263,8 +263,8 @@
+   # built with SuiteSparse support.
+
+   # Check for SuiteSparse and dependencies.
+-  find_package(SuiteSparse)
+-  if (SUITESPARSE_FOUND)
++  find_package(SuiteSparse REQUIRED)
++  if (1)
+     # On Ubuntu the system install of SuiteSparse (v3.4.0) up to at least
+     # Ubuntu 13.10 cannot be used to link shared libraries.
+     if (BUILD_SHARED_LIBS AND
+@@ -300,7 +300,7 @@
+ # CXSparse.
+ if (CXSPARSE)
+   # Don't search with REQUIRED as we can continue without CXSparse.
+-  find_package(CXSparse)
++  find_package(CXSparse REQUIRED)
+   if (CXSPARSE_FOUND)
+     # By default, if CXSparse and all dependencies are found, Ceres is
+     # built with CXSparse support.
+@@ -336,8 +336,8 @@
+ # GFlags.
+ if (GFLAGS)
+   # Don't search with REQUIRED as we can continue without gflags.
+-  find_package(Gflags)
+-  if (GFLAGS_FOUND)
++  find_package(Gflags REQUIRED)
++  if (1)
+     message("-- Found Google Flags header in: ${GFLAGS_INCLUDE_DIRS}, "
+       "in namespace: ${GFLAGS_NAMESPACE}")
+     add_definitions(-DCERES_GFLAGS_NAMESPACE=${GFLAGS_NAMESPACE})
+@@ -376,13 +376,14 @@
    unset(MINIGLOG_MAX_LOG_LEVEL CACHE)
    # Don't search with REQUIRED so that configuration continues if not found and
    # we can output an error messages explaining MINIGLOG option.
@@ -71,7 +106,7 @@
    # By default, assume gflags was found, updating the message if it was not.
    set(GLOG_GFLAGS_DEPENDENCY_MESSAGE
      " Assuming glog was built with gflags support as gflags was found. "
-@@ -395,7 +396,8 @@ else (MINIGLOG)
+@@ -395,7 +396,8 @@
        "Otherwise, Ceres may fail to link due to missing gflags symbols.")
    endif(NOT GFLAGS_FOUND)
    message("-- Found Google Log (glog)." ${GLOG_GFLAGS_DEPENDENCY_MESSAGE})
@@ -81,7 +116,29 @@
 
  if (NOT SCHUR_SPECIALIZATIONS)
    list(APPEND CERES_COMPILE_OPTIONS CERES_RESTRICT_SCHUR_SPECIALIZATION)
-@@ -526,7 +528,7 @@ if (CXX11 AND (TBB OR CXX11_THREADS))
+@@ -409,18 +411,9 @@
+
+ if (OPENMP)
+   # Find quietly, as we can continue without OpenMP if it is not found.
+-  find_package(OpenMP QUIET)
+-  if (OPENMP_FOUND)
+-    message("-- Building with OpenMP.")
+-    list(APPEND CERES_COMPILE_OPTIONS CERES_USE_OPENMP)
+-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+-  else (OPENMP_FOUND)
+-    message("-- Failed to find OpenMP, disabling. This is expected on "
+-      "Clang < 3.8, and at least Xcode <= 8.  See Ceres documentation for "
+-      "instructions to build with LLVM from Homebrew to enable OpenMP on OS X.")
+-    update_cache_variable(OPENMP OFF)
+-  endif (OPENMP_FOUND)
++  find_package(OpenMP REQUIRED)
++  list(APPEND CERES_COMPILE_OPTIONS CERES_USE_OPENMP)
++  link_libraries(OpenMP::OpenMP_CXX)
+ else (OPENMP)
+   message("-- Building without OpenMP, disabling.")
+ endif (OPENMP)
+@@ -526,7 +519,7 @@
  endif()
 
  if (CXX11 AND TBB)
@@ -92,7 +149,7 @@
      list(APPEND CERES_COMPILE_OPTIONS CERES_USE_TBB)
 --- a/internal/ceres/CMakeLists.txt
 +++ b/internal/ceres/CMakeLists.txt
-@@ -152,9 +152,10 @@ else (SCHUR_SPECIALIZATIONS)
+@@ -152,9 +152,10 @@
  endif (SCHUR_SPECIALIZATIONS)
 
  # Build the list of dependencies for Ceres based on the current configuration.
@@ -106,7 +163,7 @@
      # If glog & gflags are both found, we assume that glog was built with
      # gflags, as it is awkward to perform a try_compile() to verify this
      # when gflags is an imported target (as it is in newer versions).
-@@ -162,7 +163,7 @@ if (NOT MINIGLOG AND GLOG_FOUND)
+@@ -162,7 +163,7 @@
      # gflags, it is thus a public dependency for Ceres in this case.
      list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GFLAGS_LIBRARIES})
    endif()
@@ -115,16 +172,27 @@
 
  if (SUITESPARSE AND SUITESPARSE_FOUND)
    # Define version information for use in Solver::FullReport.
-@@ -191,7 +192,7 @@ if (OPENMP_FOUND)
- endif (OPENMP_FOUND)
+@@ -180,18 +181,8 @@
+   list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${LAPACK_LIBRARIES})
+ endif ()
 
+-if (OPENMP_FOUND)
+-  # OpenMP support in Clang requires a non-GNU OpenMP library.
+-  if (CMAKE_COMPILER_IS_GNUCXX)
+-    list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES gomp)
+-  endif()
+-  if (NOT MSVC)
+-    list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CMAKE_THREAD_LIBS_INIT})
+-  endif()
+-endif (OPENMP_FOUND)
+-
  if (TBB_FOUND)
 -  list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${TBB_LIBRARIES})
 +  list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES TBB::tbb)
    if (NOT MSVC)
      list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CMAKE_THREAD_LIBS_INIT})
    endif (NOT MSVC)
-@@ -241,8 +242,8 @@ if (BUILD_SHARED_LIBS)
+@@ -241,8 +232,8 @@
    # When building a shared library, mark all external libraries as
    # PRIVATE so they don't show up as a dependency.
    target_link_libraries(ceres
@@ -135,7 +203,7 @@
  else (BUILD_SHARED_LIBS)
    # When building a static library, all external libraries are
    # PUBLIC(default) since the user needs to link to them.
-@@ -250,7 +251,9 @@ else (BUILD_SHARED_LIBS)
+@@ -250,7 +241,9 @@
    set(CERES_LIBRARY_DEPENDENCIES
          ${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
          ${CERES_LIBRARY_PRIVATE_DEPENDENCIES})

recipes/ceres-solver/all/patches/1.14.0-0004-suitesparse-compatibility.patch

@@ -0,0 +1,23 @@
+From 9cca671273c2f205ca7350422f48b7b119c5dd78 Mon Sep 17 00:00:00 2001
+From: Mark Shachkov <markshachkov@gmail.com>
+Date: Sun, 17 Sep 2023 20:57:43 +0200
+Subject: [PATCH] Enable compatibility with SuiteSparse 7.2.0
+
+Change-Id: I072dc3f7c245fc2ebbdffed715ac4def20f7dccd
+---
+ internal/ceres/covariance_impl.cc | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/internal/ceres/covariance_impl.cc b/internal/ceres/covariance_impl.cc
+index d7a7c0790..1679f234b 100644
+--- a/internal/ceres/covariance_impl.cc
++++ b/internal/ceres/covariance_impl.cc
+@@ -671,7 +671,7 @@
+   const SuiteSparse_long rank =
+       SuiteSparseQR<double>(SPQR_ORDERING_BESTAMD,
+                             SPQR_DEFAULT_TOL,
+-                            cholmod_jacobian.ncol,
++                            static_cast<int64_t>(cholmod_jacobian.ncol),
+                             &cholmod_jacobian,
+                             &R,
+                             &permutation,

recipes/ceres-solver/all/patches/2.0.0-0001-find-libraries-conan.patch

@@ -1,5 +1,54 @@
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
+@@ -261,7 +261,7 @@
+ endif (EIGEN3_FOUND)
+
+ if (LAPACK)
+-  find_package(LAPACK QUIET)
++  find_package(LAPACK REQUIRED)
+   if (LAPACK_FOUND)
+     message("-- Found LAPACK library: ${LAPACK_LIBRARIES}")
+   else (LAPACK_FOUND)
+@@ -279,7 +279,7 @@
+   # built with SuiteSparse support.
+
+   # Check for SuiteSparse and dependencies.
+-  find_package(SuiteSparse)
+-  if (SUITESPARSE_FOUND)
++  find_package(SuiteSparse REQUIRED)
++  if (1)
+     # On Ubuntu the system install of SuiteSparse (v3.4.0) up to at least
+     # Ubuntu 13.10 cannot be used to link shared libraries.
+@@ -316,7 +316,7 @@
+ # CXSparse.
+ if (CXSPARSE)
+   # Don't search with REQUIRED as we can continue without CXSparse.
+-  find_package(CXSparse)
+-  if (CXSPARSE_FOUND)
++  find_package(CXSparse REQUIRED)
++  if (1)
+     # By default, if CXSparse and all dependencies are found, Ceres is
+     # built with CXSparse support.
+@@ -340,7 +340,7 @@
+ endif (CXSPARSE)
+
+ if (ACCELERATESPARSE)
+-  find_package(AccelerateSparse)
++  find_package(AccelerateSparse REQUIRED)
+   if (AccelerateSparse_FOUND)
+     message("-- Found Apple's Accelerate framework with sparse solvers, "
+       "building with Accelerate sparse support.")
+@@ -389,7 +389,7 @@
+ # GFlags.
+ if (GFLAGS)
+   # Don't search with REQUIRED as we can continue without gflags.
+-  find_package(gflags 2.2.0)
++  find_package(gflags 2.2.0 REQUIRED)
+   if (gflags_FOUND)
+     if (TARGET gflags)
+       message("-- Found Google Flags (gflags) version ${gflags_VERSION}: ${gflags_DIR}")
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
 @@ -239,14 +239,14 @@ message("-- Building with C++${CMAKE_CXX_STANDARD}")
  # Eigen.
  # Eigen delivers Eigen3Config.cmake since v3.3.3
@@ -19,15 +68,14 @@
    endif()
 
    if (EIGENSPARSE)
-@@ -258,7 +258,7 @@ if (EIGEN3_FOUND)
+@@ -258,6 +258,6 @@ if (EIGEN3_FOUND)
      message("   which can still use the EIGEN_SPARSE_QR algorithm.")
      add_definitions(-DEIGEN_MPL2_ONLY)
    endif (EIGENSPARSE)
 -endif (EIGEN3_FOUND)
 +endif ()
 
  if (LAPACK)
-   find_package(LAPACK QUIET)
 @@ -427,13 +427,14 @@ else (MINIGLOG)
    unset(MINIGLOG_MAX_LOG_LEVEL CACHE)
    # Don't search with REQUIRED so that configuration continues if not found and

recipes/ceres-solver/all/patches/2.0.0-0002-fix-mingw-build.patch

@@ -1,12 +1,15 @@
+Add the equivalent of /bigobj for MSVC for MinGW to fix 'too many sections'
+compile errors due to extensive use of templates.
+
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -514,6 +514,9 @@ if (MINGW)
+@@ -512,8 +512,8 @@
            "to a MinGW bug: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556")
    string(REPLACE "-O3" "-O2" CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
    update_cache_variable(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
-+  # Add the equivalent of /bigobj for MSVC for MinGW to fix 'too many sections'
-+  # compile errors due to extensive use of templates.
 +  add_compile_options(-Wa,-mbig-obj)
  endif (MINGW)
- 
+-
  # After the tweaks for the compile settings, disable some warnings on MSVC.
+ if (MSVC)
+   # On MSVC, math constants are not included in <cmath> or <math.h> unless

recipes/ceres-solver/all/patches/2.0.0-0004-suitesparse-compatibility.patch

@@ -0,0 +1,23 @@
+From 9cca671273c2f205ca7350422f48b7b119c5dd78 Mon Sep 17 00:00:00 2001
+From: Mark Shachkov <markshachkov@gmail.com>
+Date: Sun, 17 Sep 2023 20:57:43 +0200
+Subject: [PATCH] Enable compatibility with SuiteSparse 7.2.0
+
+Change-Id: I072dc3f7c245fc2ebbdffed715ac4def20f7dccd
+---
+ internal/ceres/covariance_impl.cc | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/internal/ceres/covariance_impl.cc b/internal/ceres/covariance_impl.cc
+index d7a7c0790..1679f234b 100644
+--- a/internal/ceres/covariance_impl.cc
++++ b/internal/ceres/covariance_impl.cc
+@@ -634,7 +634,7 @@
+   // separately.
+   const SuiteSparse_long rank = SuiteSparseQR<double>(SPQR_ORDERING_BESTAMD,
+                                                       SPQR_DEFAULT_TOL,
+-                                                      cholmod_jacobian.ncol,
++                                                      static_cast<int64_t>(cholmod_jacobian.ncol),
+                                                       &cholmod_jacobian,
+                                                       &R,
+                                                       &permutation,

recipes/ceres-solver/all/patches/2.1.0-0001-find-libraries-conan.patch

@@ -1,5 +1,50 @@
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
+@@ -227,7 +227,7 @@
+ endif (Eigen3_FOUND)
+
+ if (CUDA)
+-  find_package(CUDA QUIET)
++  find_package(CUDA REQUIRED)
+   if (CUDA_FOUND)
+     message("-- Found CUDA version ${CUDA_VERSION}: "
+         "${CUDA_LIBRARIES};"
+@@ -244,7 +244,7 @@
+ endif (CUDA)
+
+ if (LAPACK)
+-  find_package(LAPACK QUIET)
++  find_package(LAPACK REQUIRED)
+   if (LAPACK_FOUND)
+     message("-- Found LAPACK library: ${LAPACK_LIBRARIES}")
+   else (LAPACK_FOUND)
+@@ -266,7 +266,7 @@
+   # built with SuiteSparse support.
+
+   # Check for SuiteSparse and dependencies.
+-  find_package(SuiteSparse 4.0 COMPONENTS CHOLMOD SPQR)
++  find_package(SuiteSparse 4.0 REQUIRED COMPONENTS CHOLMOD SPQR)
+   if (SuiteSparse_FOUND)
+     set(SuiteSparse_DEPENDENCY "find_dependency(SuiteSparse ${SuiteSparse_VERSION})")
+     # By default, if all of SuiteSparse's dependencies are found, Ceres is
+@@ -294,7 +294,7 @@
+ # CXSparse.
+ if (CXSPARSE)
+   # Don't search with REQUIRED as we can continue without CXSparse.
+-  find_package(CXSparse)
++  find_package(CXSparse REQUIRED)
+   if (CXSparse_FOUND)
+     set(CXSparse_DEPENDENCY "find_dependency(CXSparse ${CXSparse_VERSION})")
+     # By default, if CXSparse and all dependencies are found, Ceres is
+@@ -318,7 +318,7 @@
+ endif (CXSPARSE)
+
+ if (ACCELERATESPARSE)
+-  find_package(AccelerateSparse)
++  find_package(AccelerateSparse REQUIRED)
+   if (AccelerateSparse_FOUND)
+     message("-- Found Apple's Accelerate framework with sparse solvers, "
+       "building with Accelerate sparse support.")
 @@ -405,13 +405,14 @@ else (MINIGLOG)
    unset(MINIGLOG_MAX_LOG_LEVEL CACHE)
    # Don't search with REQUIRED so that configuration continues if not found and