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[draft] switch wpical backend to gtsam #7606

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[draft] switch wpical backend to gtsam #7606

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35476da
Add extra eigen headers for gtsam
mcm001 Dec 29, 2024
d34b60f
Switch wpical backend to GTSAM
mcm001 Dec 29, 2024
266e4c2
whoops
mcm001 Dec 30, 2024
41dc097
start on cmake for gtsam
spacey-sooty Dec 30, 2024
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3 changes: 2 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -145,7 +145,8 @@ if(WITH_DOCS)
endif()

if(WITH_WPICAL)
find_package(Ceres CONFIG REQUIRED)
# find_package(Ceres CONFIG REQUIRED)
find_package (SuiteSparse 5.12 NO_MODULE)
endif()

find_package(LIBSSH CONFIG 0.7.1)
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4 changes: 2 additions & 2 deletions build.gradle
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Expand Up @@ -29,8 +29,8 @@ wpilibVersioning.releaseMode = project.hasProperty('releaseMode')
allprojects {
repositories {
maven {
url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
}
url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
}
}
if (project.hasProperty('releaseMode')) {
wpilibRepositories.addAllReleaseRepositories(it)
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13 changes: 13 additions & 0 deletions shared/gtsam.gradle
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Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
nativeUtils {
nativeDependencyContainer {
gtsam(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
groupId = "edu.wpi.first.thirdparty.frc2025.gtsam"
artifactId = "gtsam-cpp"
headerClassifier = "headers"
sourceClassifier = "sources"
ext = "zip"
version = '4.3-2'
targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
}
}
}
3 changes: 2 additions & 1 deletion upstream_utils/eigen.py
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Expand Up @@ -49,6 +49,7 @@ def eigen_inclusions(dp, f):
modules = [
"Cholesky",
"Core",
"Dense",
"Eigenvalues",
"Geometry",
"Householder",
Expand Down Expand Up @@ -86,7 +87,7 @@ def unsupported_inclusions(dp, f):
return False

# Include the MatrixFunctions module
return "MatrixFunctions" in abspath
return "MatrixFunctions" in abspath or "SpecialFunctions" in abspath or "Tensor" in abspath or abspath.endswith("SpecialFunctionsFunctors.h")


def copy_upstream_src(wpilib_root):
Expand Down
35 changes: 32 additions & 3 deletions wpical/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,9 @@ include(CompileWarnings)
include(GenResources)
include(LinkMacOSGUI)
include(AddTest)
include(FetchContent)

find_package (SuiteSparse 5.12 NO_MODULE)

configure_file(src/main/generate/WPILibVersion.cpp.in WPILibVersion.cpp)
generate_resources(src/main/native/resources generated/main/cpp WPIcal wpical wpical_resources_src)
Expand All @@ -25,6 +28,26 @@ elseif(APPLE)
set_source_files_properties(${APP_ICON_MACOSX} PROPERTIES MACOSX_PACKAGE_LOCATION "Resources")
endif()

set(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG CACHE INTERNAL FORCE)
set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO CACHE INTERNAL FORCE)
set(GTSAM_ENABLE_BOOST_SERIALIZATION OFF)
set(GTSAM_WITH_TBB OFF)
set(GTSAM_USE_BOOST_FEATURES OFF)
set(GTSAM_BUILD_PYTHON OFF)
set(GTSAM_BUILD_EXAMPLES_ALWAYS OFF)
set(GTSAM_BUILD_TESTS OFF)
set(BUILD_SHARED_LIBS OFF)
set(GTSAM_FORCE_SHARED_LIB OFF)
set(GTSAM_FORCE_STATIC_LIB ON)

include(FetchContent)
fetchcontent_declare(
gtsam
GIT_REPOSITORY https://github.com/mcm001/gtsam
GIT_TAG c24ca7951f1db4cfe4e23f368b2eda503de72176
)
fetchcontent_makeavailable(gtsam)

add_executable(
wpical
${wpical_src}
Expand All @@ -38,7 +61,9 @@ wpilib_target_warnings(wpical)
target_include_directories(
wpical
PRIVATE
/usr/local/include/
src/main/native/include
src/main/native/thirdparty/mrcal/generated
src/main/native/thirdparty/libdogleg/include
src/main/native/thirdparty/mrcal/include
src/main/native/thirdparty/mrcal_java/include
Expand Down Expand Up @@ -82,14 +107,16 @@ endif()
target_compile_options(wpical PRIVATE ${compile_flags})

find_package(OpenCV REQUIRED)
find_package(Ceres CONFIG REQUIRED)
target_link_libraries(
wpical
gtsam
apriltag
${OpenCV_LIBS}
wpigui
wpiutil
Ceres::ceres
wpimath
SuiteSparse::CHOLMOD
# Ceres::ceres
)

if(WIN32)
Expand Down Expand Up @@ -119,11 +146,13 @@ if(WITH_TESTS)
)
target_link_libraries(
wpical_test
gtsam
googletest
apriltag
${OpenCV_LIBS}
wpigui
wpiutil
Ceres::ceres
SuiteSparse::CHOLMOD
# Ceres::ceres
)
endif()
14 changes: 13 additions & 1 deletion wpical/build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@ def wpilibVersionFileInput = file("src/main/generate/WPILibVersion.cpp.in")
def wpilibVersionFileOutput = file("$buildDir/generated/main/cpp/WPILibVersion.cpp")

apply from: "${rootDir}/shared/ceres.gradle"
apply from: "${rootDir}/shared/gtsam.gradle"
apply from: "${rootDir}/shared/opencv.gradle"

task generateCppVersion() {
Expand Down Expand Up @@ -156,12 +157,14 @@ model {
it.buildable = false
return
}
lib project: ':wpimath', library: 'wpimath', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
lib project: ':apriltag', library: 'apriltag', linkage: 'static'
nativeUtils.useRequiredLibrary(it, 'ceres')
nativeUtils.useRequiredLibrary(it, 'opencv_static')
nativeUtils.useRequiredLibrary(it, 'gtsam')
nativeUtils.useRequiredLibrary(it, 'ceres')
it.cppCompiler.define 'GLOG_USE_GLOG_EXPORT'
if (it.targetPlatform.operatingSystem.isWindows()) {
it.cppCompiler.define('GLOG_DEPRECATED', '__declspec(deprecated)')
Expand All @@ -175,6 +178,9 @@ model {
} else if (it.targetPlatform.operatingSystem.isMacOsX()) {
it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore' << '-framework' << 'Accelerate'
} else {
it.cppCompiler.args.add("-Wno-deprecated-copy")
it.cppCompiler.args.add("-Wno-redundant-move")
Comment on lines +181 to +182
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we should probably fix these upstream instead


it.linker.args << '-lX11' << "-lgfortran"
if (it.targetPlatform.name.startsWith('linuxarm')) {
it.linker.args << '-lGL'
Expand Down Expand Up @@ -211,10 +217,13 @@ model {
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
lib project: ':apriltag', library: 'apriltag', linkage: 'static'
lib project: ':wpimath', library: 'wpimath', linkage: 'static'
nativeUtils.useRequiredLibrary(it, 'ceres')
nativeUtils.useRequiredLibrary(it, 'opencv_static')
nativeUtils.useRequiredLibrary(it, 'gtsam')
it.cppCompiler.define('PROJECT_ROOT_PATH', testResources)
it.cppCompiler.define 'GLOG_USE_GLOG_EXPORT'

if (it.targetPlatform.name == nativeUtils.wpi.platforms.windowsarm64) {
// https://developercommunity.visualstudio.com/t/-imp-std-init-once-complete-unresolved-external-sy/1684365#T-N10041864
it.linker.args << '/alternatename:__imp___std_init_once_complete=__imp_InitOnceComplete'
Expand All @@ -240,6 +249,9 @@ model {
if (it.targetPlatform.name.startsWith('linuxarm')) {
it.linker.args << '-lGL'
}

it.cppCompiler.args.add("-Wno-deprecated-copy")
it.cppCompiler.args.add("-Wno-redundant-move")
}
}
}
Expand Down
4 changes: 4 additions & 0 deletions wpical/src/main/native/cpp/cameracalibration.cpp
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Expand Up @@ -312,7 +312,11 @@ int cameracalibration::calibrate(const std::string& input_video,
cv::Size boardSize(board_width - 1, board_height - 1);
cv::Size imagerSize(imagerWidthPixels, imagerHeightPixels);

int frameIdx = 0;
while (video_capture.grab()) {
std::cout << "Frame index " << frameIdx << std::endl;
frameIdx++;

cv::Mat frame;
video_capture.retrieve(frame);

Expand Down
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