Merge pull request borglab#2253 from nebudev14/remove-geographic-lib

Remove GeographicLib as a 3rd party vendor

Author: dellaert

.github/scripts/unix.sh

@@ -55,7 +55,8 @@ function configure()
       -DGTSAM_USE_BOOST_FEATURES=${GTSAM_USE_BOOST_FEATURES:-OFF} \
       -DGTSAM_ENABLE_BOOST_SERIALIZATION=${GTSAM_ENABLE_BOOST_SERIALIZATION:-OFF} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-      -DGTSAM_SINGLE_TEST_EXE=${GTSAM_SINGLE_TEST_EXE:-OFF}
+      -DGTSAM_SINGLE_TEST_EXE=${GTSAM_SINGLE_TEST_EXE:-OFF} \
+      -DGTSAM_ENABLE_GEOGRAPHICLIB=${GTSAM_ENABLE_GEOGRAPHICLIB:-OFF}
 }
 
 

.github/workflows/build-linux.yml

@@ -37,6 +37,7 @@ jobs:
             ubuntu-24.04-gcc-14,
             ubuntu-24.04-clang-16,
             ubuntu-24.04-clang-16-boost,
+            ubuntu-24.04-clang-16-geographiclib,
           ]
 
         build_type: [Debug, Release]
@@ -66,9 +67,17 @@ jobs:
             os: ubuntu-24.04
             compiler: clang
             version: "16"
+
+          - name: ubuntu-24.04-clang-16-geographiclib
+            os: ubuntu-24.04
+            compiler: clang
+            version: "16"
+
         exclude:
           - name: ubuntu-24.04-clang-16-boost
             build_type: Debug
+          - name: ubuntu-24.04-clang-16-geographiclib
+            build_type: Debug
 
     steps:
       - name: Checkout
@@ -108,6 +117,12 @@ jobs:
           echo "GTSAM_USE_BOOST_FEATURES=ON" >> $GITHUB_ENV
           echo "GTSAM_ENABLE_BOOST_SERIALIZATION=ON" >> $GITHUB_ENV
 
+      - name: Install GeographicLib (Conditional)
+        if: contains(matrix.name, 'geographiclib') && matrix.build_type == 'Release'
+        run: |
+          sudo apt-get -y install libgeographiclib-dev
+          echo "GTSAM_ENABLE_GEOGRAPHICLIB=ON" >> $GITHUB_ENV
+
       - name: Build and Test
         run: |
           # Set linker flags based on compiler

.github/workflows/build-macos.yml

@@ -33,6 +33,7 @@ jobs:
           macos-13-xcode-14.2,
           macos-14-xcode-15.4,
           macos-14-xcode-15.4-boost,
+          macos-14-xcode-15.4-geographiclib,
         ]
 
         build_type: [Debug, Release]
@@ -53,9 +54,16 @@ jobs:
             compiler: xcode
             version: "15.4"
 
+          - name: macos-14-xcode-15.4-geographiclib
+            os: macos-14
+            compiler: xcode
+            version: "15.4"
+
         exclude:
           - name: macos-14-xcode-15.4-boost
             build_type: Debug
+          - name: macos-14-xcode-15.4-geographiclib
+            build_type: Debug
 
     steps:
       - name: Checkout
@@ -76,5 +84,11 @@ jobs:
           echo "GTSAM_USE_BOOST_FEATURES=ON" >> $GITHUB_ENV
           echo "GTSAM_ENABLE_BOOST_SERIALIZATION=ON" >> $GITHUB_ENV
 
+      - name: Install GeographicLib
+        if: contains(matrix.name, 'geographiclib') && matrix.build_type == 'Release'
+        run: |
+          brew upgrade geographiclib --quiet || brew install geographiclib --quiet
+          echo "GTSAM_ENABLE_GEOGRAPHICLIB=ON" >> $GITHUB_ENV
+
       - name: Build and Test
         run: bash .github/scripts/unix.sh -t

CMakeLists.txt

@@ -107,6 +107,15 @@ include(cmake/HandleBoost.cmake)
 endif()
 ######################################################################
 
+# ############## Decide on GeographicLib ######################################
+# Enable or disable GeographicLib integration with GTSAM_ENABLE_GEOGRAPHICLIB
+option(GTSAM_ENABLE_GEOGRAPHICLIB "Enable Features that use GeographicLib" OFF)
+
+if (GTSAM_ENABLE_GEOGRAPHICLIB)
+  include(cmake/HandleGeographicLib.cmake)
+endif()
+# ##############################################################################
+
 # Other Libraries:
 include(cmake/HandleCCache.cmake)           # ccache
 include(cmake/HandleCPack.cmake)            # CPack
@@ -200,4 +209,4 @@ include(cmake/HandlePrintConfiguration.cmake)
 include(cmake/HandleFinalChecks.cmake)
 
 # Include CPack *after* all flags
-include(CPack)
+include(CPack)

LICENSE

@@ -1,4 +1,4 @@
-GTSAM is released under the simplified BSD license, reproduced in the file 
+GTSAM is released under the simplified BSD license, reproduced in the file
 LICENSE.BSD in this directory.
 
 GTSAM contains several third party libraries, with documentation of licensing
@@ -14,11 +14,8 @@ ordering library
     - Includes only auto-diff/jet code, with minor modifications to includes
     - http://ceres-solver.org/license.html
 - Eigen 3.3.7:  General C++ matrix and linear algebra library
-    - Licenced under MPL2, provided in gtsam/3rdparty/Eigen/COPYING.README 
+    - Licenced under MPL2, provided in gtsam/3rdparty/Eigen/COPYING.README
     - Some code that is 3rd-party to Eigen is BSD and LGPL
-- GeographicLib 1.35: Charles Karney's geographic conversion utility library
-    - Included unmodified in gtsam/3rdparty/GeographicLib
-    - Licenced under MIT, provided in gtsam/3rdparty/GeographicLib/LICENSE.txt
 - METIS 5.1.0: Graph partitioning and fill-reducing matrix ordering library
     - Included unmodified in gtsam/3rdparty/metis
     - Licenced under Apache License v 2.0, provided in

cmake/HandleGeographicLib.cmake

@@ -0,0 +1,37 @@
+find_package(GeographicLib QUIET CONFIG)
+
+if(NOT GeographicLib_FOUND)
+  find_package(GeographicLib QUIET MODULE)
+endif()
+
+if(NOT GeographicLib_FOUND)
+  find_path(GeographicLib_INCLUDE_DIR
+    NAMES GeographicLib/Config.h
+    PATH_SUFFIXES include
+  )
+  find_library(GeographicLib_LIBRARY
+    NAMES Geographic GeographicLib
+    PATH_SUFFIXES lib lib64
+  )
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(GeographicLib
+    REQUIRED_VARS GeographicLib_INCLUDE_DIR GeographicLib_LIBRARY
+  )
+
+  if(GeographicLib_FOUND AND NOT TARGET GeographicLib::GeographicLib)
+    add_library(GeographicLib::GeographicLib UNKNOWN IMPORTED)
+    set_target_properties(GeographicLib::GeographicLib PROPERTIES
+      IMPORTED_LOCATION             "${GeographicLib_LIBRARY}"
+      INTERFACE_INCLUDE_DIRECTORIES "${GeographicLib_INCLUDE_DIR}"
+    )
+  endif()
+endif()
+
+set(GTSAM_HAVE_GEOGRAPHICLIB ${GeographicLib_FOUND})
+
+if(TARGET GeographicLib::GeographicLib)
+  message(STATUS "Using GeographicLib: ${GeographicLib_LIBRARY}")
+else()
+  message(STATUS "GeographicLib not found; Relevant tests disabled.")
+endif()

gtsam/3rdparty/CMakeLists.txt

@@ -53,35 +53,4 @@ endif()
 
 add_subdirectory(ceres)
 
-############ NOTE:  When updating GeographicLib be sure to disable building their examples
-############        and unit tests by commenting out their lines:
-# add_subdirectory (examples)
-# set (TOOLS CartConvert ConicProj GeodesicProj GeoConvert GeodSolve
-#   GeoidEval Gravity MagneticField Planimeter TransverseMercatorProj)
-# add_subdirectory (tools)
-
-# Find GeographicLib using the find script distributed with it
-unset(GEOGRAPHICLIB_FOUND CACHE)
-unset(GeographicLib_INCLUDE_DIRS CACHE)
-unset(GeographicLib_LIBRARIES CACHE)
-unset(GeographicLib_LIBRARY_DIRS CACHE)
-include(GeographicLib/cmake/FindGeographicLib.cmake)
-
-# Set up the option to install GeographicLib
-if(GEOGRAPHICLIB-NOTFOUND)
-  set(install_geographiclib_default ON)
-else()
-  set(install_geographiclib_default OFF)
-endif()
-option(GTSAM_INSTALL_GEOGRAPHICLIB "Build and install the 3rd-party library GeographicLib" ${install_geographiclib_default})
-
-# Print warning if we'll overwrite GeographicLib
-if(GEOGRAPHICLIB_FOUND AND GTSAM_INSTALL_GEOGRAPHICLIB)
-  message(WARNING "GeographicLib is installed on your system and GTSAM_INSTALL_GEOGRAPHICLIB is enabled.  Installing gtsam will either overwrite the installed GeographicLib or install a second version that may conflict.  You may want to disable GTSAM_INSTALL_GEOGRAPHICLIB if the installed version was not installed by GTSAM.")
-endif()
-
-if(GTSAM_INSTALL_GEOGRAPHICLIB)
-  add_subdirectory(GeographicLib)
-endif()
-
-set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
+set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)