[ceres] update to 2.0.0 (#14719)

7 files changed, 62 insertions, 209 deletions

diff --git a/ports/ceres/0001_cmakelists_fixes.patch b/ports/ceres/0001_cmakelists_fixes.patch
index 87a3785d5..bb5942723 100644
--- a/ports/ceres/0001_cmakelists_fixes.patch
+++ b/ports/ceres/0001_cmakelists_fixes.patch
@@ -1,8 +1,8 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 02c72b5..62d8c59 100644
+index 33e98b1..f275d68 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -374,27 +374,7 @@ if (MINIGLOG)
+@@ -426,27 +426,7 @@ if (MINIGLOG)
                           GLOG_LIBRARY)
  else (MINIGLOG)
    unset(MINIGLOG_MAX_LOG_LEVEL CACHE)
@@ -19,24 +19,28 @@ index 02c72b5..62d8c59 100644
 -  set(GLOG_GFLAGS_DEPENDENCY_MESSAGE
 -    " Assuming glog was built with gflags support as gflags was found. "
 -    "This will make gflags a public dependency of Ceres.")
--  if (NOT GFLAGS_FOUND)
+-  if (NOT gflags_FOUND)
 -    set(GLOG_GFLAGS_DEPENDENCY_MESSAGE
 -      " Assuming glog was NOT built with gflags support as gflags was "
 -      "not found.  If glog was built with gflags, please set the "
 -      "gflags search locations such that it can be found by Ceres.  "
 -      "Otherwise, Ceres may fail to link due to missing gflags symbols.")
--  endif(NOT GFLAGS_FOUND)
+-  endif(NOT gflags_FOUND)
 -  message("-- Found Google Log (glog)." ${GLOG_GFLAGS_DEPENDENCY_MESSAGE})
 +  find_package(Glog REQUIRED)
  endif (MINIGLOG)
- 
+
  if (NOT SCHUR_SPECIALIZATIONS)
-@@ -917,8 +897,5 @@ install(FILES "${Ceres_BINARY_DIR}/CeresConfig-install.cmake"
+@@ -760,12 +740,6 @@ install(FILES "${Ceres_BINARY_DIR}/CeresConfig-install.cmake"
          DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
  install(FILES "${Ceres_BINARY_DIR}/CeresConfigVersion.cmake"
--              "${Ceres_SOURCE_DIR}/cmake/FindEigen.cmake"
--              "${Ceres_SOURCE_DIR}/cmake/FindGlog.cmake"
--              "${Ceres_SOURCE_DIR}/cmake/FindGflags.cmake"
          DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
- 
- # Create an uninstall target to remove all installed files.
+-if (GLOG_FOUND AND NOT FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
+-  # Version of glog detected was not built with CMake, install our glog module
+-  # file to enable detection in CeresConfig.
+-  install(FILES "${Ceres_SOURCE_DIR}/cmake/FindGlog.cmake"
+-          DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
+-endif()
+
+ if (PROVIDE_UNINSTALL_TARGET)
+   # Create an uninstall target to remove all installed files.
diff --git a/ports/ceres/0002_use_glog_target.patch b/ports/ceres/0002_use_glog_target.patch
index 6ca328a8e..5405ea53d 100644
--- a/ports/ceres/0002_use_glog_target.patch
+++ b/ports/ceres/0002_use_glog_target.patch
@@ -1,20 +1,20 @@
 diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
-index cc43fec..18b415b 100644
+index 3711222..8646bd0 100644
 --- a/internal/ceres/CMakeLists.txt
 +++ b/internal/ceres/CMakeLists.txt
-@@ -152,17 +152,9 @@ else (SCHUR_SPECIALIZATIONS)
- endif (SCHUR_SPECIALIZATIONS)
- 
- # Build the list of dependencies for Ceres based on the current configuration.
+@@ -174,17 +174,9 @@ endif (SCHUR_SPECIALIZATIONS)
+ find_package(Threads QUIET)
+ list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES Threads::Threads)
+
 -if (NOT MINIGLOG AND GLOG_FOUND)
 -  list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GLOG_LIBRARIES})
--  if (GFLAGS_FOUND)
+-  if (gflags_FOUND)
 -    # 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).
 -    # As glog #includes gflags/gflags.h in glog/logging.h if compiled with
 -    # gflags, it is thus a public dependency for Ceres in this case.
--    list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GFLAGS_LIBRARIES})
+-    list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES gflags)
 -  endif()
 -endif (NOT MINIGLOG AND GLOG_FOUND)
 +if (NOT MINIGLOG)
diff --git a/ports/ceres/0003_fix_exported_ceres_config.patch b/ports/ceres/0003_fix_exported_ceres_config.patch
index 9b02e9963..332ef5952 100644
--- a/ports/ceres/0003_fix_exported_ceres_config.patch
+++ b/ports/ceres/0003_fix_exported_ceres_config.patch
@@ -1,93 +1,63 @@
 diff --git a/cmake/CeresConfig.cmake.in b/cmake/CeresConfig.cmake.in
-index d0380de..55760a8 100644
+index e5e2976..be1083a 100644
 --- a/cmake/CeresConfig.cmake.in
 +++ b/cmake/CeresConfig.cmake.in
-@@ -237,85 +237,13 @@ endif (EIGEN_FOUND)
- list(APPEND CERES_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+@@ -213,55 +213,13 @@ else (EIGEN3_FOUND)
+ endif (EIGEN3_FOUND)
  
- # Glog.
--# Flag set during configuration and build of Ceres.
+ # glog (and maybe gflags).
+-#
+-# Flags set during configuration and build of Ceres.
 -set(CERES_USES_MINIGLOG @MINIGLOG@)
+-set(CERES_GLOG_VERSION @glog_VERSION@)
+-set(CERES_GLOG_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION@)
+-
 -set(CERES_USES_GFLAGS @GFLAGS@)
+-set(CERES_GFLAGS_VERSION @gflags_VERSION@)
+-
 -if (CERES_USES_MINIGLOG)
--  set(MINIGLOG_INCLUDE_DIR ${CERES_INCLUDE_DIR}/ceres/internal/miniglog)
--  if (NOT CERES_WAS_INSTALLED)
--    # When Ceres was exported from the build tree, the miniglog headers
--    # will be in Ceres internal source directory, not in the public headers
--    # directory (they are copied with the public headers when installed).
--    set(MINIGLOG_INCLUDE_DIR
--      ${CERES_EXPORTED_SOURCE_DIR}/internal/ceres/miniglog)
--  endif()
--  if (NOT EXISTS ${MINIGLOG_INCLUDE_DIR})
--    ceres_report_not_found(
--      "Failed to find miniglog headers in expected include directory: "
--      "${MINIGLOG_INCLUDE_DIR}, but Ceres was compiled with MINIGLOG enabled "
--      "(in place of glog).")
--  endif (NOT EXISTS ${MINIGLOG_INCLUDE_DIR})
--  list(APPEND CERES_INCLUDE_DIRS ${MINIGLOG_INCLUDE_DIR})
 -  # Output message at standard log level (not the lower STATUS) so that
 -  # the message is output in GUI during configuration to warn user.
--  message("-- Found Ceres compiled with miniglog substitute "
+-  ceres_message("-- Found Ceres compiled with miniglog substitute "
 -    "for glog, beware this will likely cause problems if glog is later linked.")
--else (CERES_USES_MINIGLOG)
--  # Append the locations of glog when Ceres was built to the search path hints.
--  set(GLOG_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION@)
--  if (GLOG_WAS_BUILT_WITH_CMAKE)
--    set(glog_DIR @glog_DIR@)
--    set(GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION TRUE)
+-else(CERES_USES_MINIGLOG)
+-  if (CERES_GLOG_WAS_BUILT_WITH_CMAKE)
+-    find_package(glog ${CERES_GLOG_VERSION} CONFIG QUIET)
+-    set(GLOG_FOUND ${glog_FOUND})
 -  else()
--    list(APPEND GLOG_INCLUDE_DIR_HINTS @GLOG_INCLUDE_DIR@)
--    get_filename_component(CERES_BUILD_GLOG_LIBRARY_DIR @GLOG_LIBRARY@ PATH)
+-    # Version of glog against which Ceres was built was not built with CMake,
+-    # use the exported glog find_package() module from Ceres to find it again.
+-    # Append the locations of glog when Ceres was built to the search path hints.
+-    list(APPEND GLOG_INCLUDE_DIR_HINTS "@GLOG_INCLUDE_DIR@")
+-    get_filename_component(CERES_BUILD_GLOG_LIBRARY_DIR "@GLOG_LIBRARY@" PATH)
 -    list(APPEND GLOG_LIBRARY_DIR_HINTS ${CERES_BUILD_GLOG_LIBRARY_DIR})
+-
+-    # Search quietly s/t we control the timing of the error message if not found.
+-    find_package(Glog QUIET)
 -  endif()
 +include (CMakeFindDependencyMacro)
 +find_dependency (glog NO_MODULE)
  
--  # Search quietly s/t we control the timing of the error message if not found.
--  find_package(Glog QUIET)
 -  if (GLOG_FOUND)
--    message(STATUS "Found required Ceres dependency: glog")
--  else (GLOG_FOUND)
--    ceres_report_not_found("Missing required Ceres "
--      "dependency: glog. Searched using GLOG_INCLUDE_DIR_HINTS: "
--      "${GLOG_INCLUDE_DIR_HINTS} and glog_DIR: ${glog_DIR}.")
--  endif (GLOG_FOUND)
--  list(APPEND CERES_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS})
+-    ceres_message(STATUS "Found required Ceres dependency: glog")
+-  else()
+-    ceres_report_not_found("Missing required Ceres dependency: glog.")
+-  endif()
 -
 -  # gflags is only a public dependency of Ceres via glog, thus is not required
 -  # if Ceres was built with MINIGLOG.
 -  if (CERES_USES_GFLAGS)
--    # If gflags was found as an imported CMake target, we need to call
--    # find_packge(Gflags) again here, as imported CMake targets are not
--    # re-exported.  Without this, the 'gflags-shared' target name which is
--    # present in CERES_LIBRARIES in this case would not be defined, and so
--    # CMake will assume it is a library name (which it is not) and fail to link.
--    #
--    # Append the locations of gflags when Ceres was built to the search path
--    # hints.
--    set(GFLAGS_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION@)
--    if (GFLAGS_WAS_BUILT_WITH_CMAKE)
--      set(gflags_DIR @gflags_DIR@)
--      set(GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION TRUE)
--    else()
--      list(APPEND GFLAGS_INCLUDE_DIR_HINTS @GFLAGS_INCLUDE_DIR@)
--      get_filename_component(CERES_BUILD_GFLAGS_LIBRARY_DIR @GFLAGS_LIBRARY@ PATH)
--      list(APPEND GFLAGS_LIBRARY_DIR_HINTS ${CERES_BUILD_GFLAGS_LIBRARY_DIR})
--    endif()
--
 -    # Search quietly s/t we control the timing of the error message if not found.
--    find_package(Gflags QUIET)
--    if (GFLAGS_FOUND)
--      message(STATUS "Found required Ceres dependency: gflags")
+-    find_package(gflags ${CERES_GFLAGS_VERSION} QUIET)
+-    if (gflags_FOUND AND TARGET gflags)
+-      ceres_message(STATUS "Found required Ceres dependency: gflags")
 -    else()
 -      ceres_report_not_found("Missing required Ceres "
--        "dependency: gflags. Searched using GFLAGS_INCLUDE_DIR_HINTS: "
--        "${GFLAGS_INCLUDE_DIR_HINTS} and gflags_DIR: ${gflags_DIR}.")
+-        "dependency: gflags (not found, or not found as exported CMake target).")
 -    endif()
--    list(APPEND CERES_INCLUDE_DIRS ${GFLAGS_INCLUDE_DIR_HINTS})
 -  endif()
--endif (CERES_USES_MINIGLOG)
-+#SuiteSparse
+-endif(CERES_USES_MINIGLOG)
++# SuiteSparse
 +if (@SUITESPARSE@)
 +    find_dependency(suitesparse CONFIG)
 +endif()
diff --git a/ports/ceres/0004_fix_find_eigen.patch b/ports/ceres/0004_fix_find_eigen.patch
deleted file mode 100644
index ad92228c0..000000000
--- a/ports/ceres/0004_fix_find_eigen.patch
+++ /dev/null
@@ -1,122 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 7033de0..5235baa 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -209,40 +209,40 @@ endif (IOS)
- unset(CERES_COMPILE_OPTIONS)
- 
- # Eigen.
--find_package(Eigen REQUIRED)
--if (EIGEN_FOUND)
--  message("-- Found Eigen version ${EIGEN_VERSION}: ${EIGEN_INCLUDE_DIRS}")
--  if (EIGEN_VERSION VERSION_LESS 3.1.0)
-+find_package(Eigen3 REQUIRED)
-+if (EIGEN3_FOUND)
-+  message(STATUS "Found Eigen version ${EIGEN3_VERSION_STRING}: ${EIGEN3_INCLUDE_DIRS}")
-+  if (EIGEN3_VERSION_STRING VERSION_LESS 3.1.0)
-     message(FATAL_ERROR "-- Ceres requires Eigen version >= 3.1.0 in order "
-       "that Eigen/SparseCore be available, detected version of Eigen is: "
--      "${EIGEN_VERSION}")
--  endif (EIGEN_VERSION VERSION_LESS 3.1.0)
-+      "${EIGEN3_VERSION_STRING}")
-+  endif (EIGEN3_VERSION_STRING VERSION_LESS 3.1.0)
- 
-   if (CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*)" AND
--      EIGEN_VERSION VERSION_LESS 3.3.4)
-+      EIGEN3_VERSION_STRING VERSION_LESS 3.3.4)
-     # As per issue #289: https://github.com/ceres-solver/ceres-solver/issues/289
-     # the bundle_adjustment_test will fail for Eigen < 3.3.4 on aarch64.
-     message(FATAL_ERROR "-- Ceres requires Eigen version >= 3.3.4 on aarch64. "
--      "Detected version of Eigen is: ${EIGEN_VERSION}.")
-+      "Detected version of Eigen is: ${EIGEN3_VERSION_STRING}.")
-   endif()
- 
-   if (EIGENSPARSE)
--    message("-- Enabling use of Eigen as a sparse linear algebra library.")
-+    message(STATUS "Enabling use of Eigen as a sparse linear algebra library.")
-     list(APPEND CERES_COMPILE_OPTIONS CERES_USE_EIGEN_SPARSE)
--    if (EIGEN_VERSION VERSION_LESS 3.2.2)
-+    if (EIGEN3_VERSION_STRING VERSION_LESS 3.2.2)
-       message("   WARNING:")
-       message("")
--      message("   Your version of Eigen (${EIGEN_VERSION}) is older than ")
-+      message("   Your version of Eigen (${EIGEN3_VERSION_STRING}) is older than ")
-       message("   version 3.2.2.  The performance of SPARSE_NORMAL_CHOLESKY ")
-       message("   and SPARSE_SCHUR linear solvers will suffer.")
--    endif (EIGEN_VERSION VERSION_LESS 3.2.2)
-+    endif (EIGEN3_VERSION_STRING VERSION_LESS 3.2.2)
-   else (EIGENSPARSE)
-     message("-- Disabling use of Eigen as a sparse linear algebra library.")
-     message("   This does not affect the covariance estimation algorithm ")
-     message("   which can still use the EIGEN_SPARSE_QR algorithm.")
-     add_definitions(-DEIGEN_MPL2_ONLY)
-   endif (EIGENSPARSE)
--endif (EIGEN_FOUND)
-+endif (EIGEN3_FOUND)
- 
- if (LAPACK)
-   find_package(LAPACK QUIET)
-@@ -562,7 +562,7 @@ include_directories(
- # Note that this is *not* propagated to clients, ie CERES_INCLUDE_DIRS
- # used by clients after find_package(Ceres) does not identify Eigen as
- # as system headers.
--include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
-+include_directories(${EIGEN3_INCLUDE_DIRS})
- 
- if (SUITESPARSE)
-   include_directories(${SUITESPARSE_INCLUDE_DIRS})
-diff --git a/cmake/CeresConfig.cmake.in b/cmake/CeresConfig.cmake.in
-index c4ed71f..b3d6a17 100644
---- a/cmake/CeresConfig.cmake.in
-+++ b/cmake/CeresConfig.cmake.in
-@@ -202,39 +202,39 @@ set(CERES_VERSION @CERES_VERSION@ )
- 
- # Eigen.
- # Flag set during configuration and build of Ceres.
--set(CERES_EIGEN_VERSION @EIGEN_VERSION@)
-+set(CERES_EIGEN_VERSION @EIGEN3_VERSION_STRING@)
- set(EIGEN_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION@)
- # Append the locations of Eigen when Ceres was built to the search path hints.
- if (EIGEN_WAS_BUILT_WITH_CMAKE)
-   set(Eigen3_DIR @Eigen3_DIR@)
-   set(EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION TRUE)
- else()
--  list(APPEND EIGEN_INCLUDE_DIR_HINTS @EIGEN_INCLUDE_DIR@)
-+  list(APPEND EIGEN_INCLUDE_DIR_HINTS @EIGEN3_INCLUDE_DIR@)
- endif()
- # Search quietly to control the timing of the error message if not found. The
- # search should be for an exact match, but for usability reasons do a soft
- # match and reject with an explanation below.
--find_package(Eigen ${CERES_EIGEN_VERSION} QUIET)
--if (EIGEN_FOUND)
--  if (NOT EIGEN_VERSION VERSION_EQUAL CERES_EIGEN_VERSION)
-+find_package(Eigen3 ${CERES_EIGEN_VERSION} QUIET)
-+if (EIGEN3_FOUND)
-+  if (NOT EIGEN3_VERSION_STRING VERSION_EQUAL CERES_EIGEN_VERSION)
-     # CMake's VERSION check in FIND_PACKAGE() will accept any version >= the
-     # specified version. However, only version = is supported. Improve
-     # usability by explaining why we don't accept non-exact version matching.
-     ceres_report_not_found("Found Eigen dependency, but the version of Eigen "
--      "found (${EIGEN_VERSION}) does not exactly match the version of Eigen "
-+      "found (${EIGEN3_VERSION_STRING}) does not exactly match the version of Eigen "
-       "Ceres was compiled with (${CERES_EIGEN_VERSION}). This can cause subtle "
-       "bugs by triggering violations of the One Definition Rule. See the "
-       "Wikipedia article http://en.wikipedia.org/wiki/One_Definition_Rule "
-       "for more details")
-   endif ()
-   message(STATUS "Found required Ceres dependency: "
--    "Eigen version ${CERES_EIGEN_VERSION} in ${EIGEN_INCLUDE_DIRS}")
--else (EIGEN_FOUND)
-+    "Eigen version ${CERES_EIGEN_VERSION} in ${EIGEN3_INCLUDE_DIRS}")
-+else (EIGEN3_FOUND)
-   ceres_report_not_found("Missing required Ceres "
-     "dependency: Eigen version ${CERES_EIGEN_VERSION}, please set "
--    "EIGEN_INCLUDE_DIR.")
--endif (EIGEN_FOUND)
--list(APPEND CERES_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
-+    "EIGEN3_INCLUDE_DIR.")
-+endif (EIGEN3_FOUND)
-+list(APPEND CERES_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
- 
- # Glog.
- include (CMakeFindDependencyMacro)
diff --git a/ports/ceres/CONTROL b/ports/ceres/CONTROL
index 5fb8186ad..2ad6f31be 100644
--- a/ports/ceres/CONTROL
+++ b/ports/ceres/CONTROL
@@ -1,6 +1,5 @@
 Source: ceres
-Version: 1.14.0
-Port-Version: 10
+Version: 2.0.0
 Build-Depends: glog, eigen3
 Homepage: https://github.com/ceres-solver/ceres-solver
 Description: non-linear optimization package
diff --git a/ports/ceres/portfile.cmake b/ports/ceres/portfile.cmake
index e7c455c56..c1dca74a9 100644
--- a/ports/ceres/portfile.cmake
+++ b/ports/ceres/portfile.cmake
@@ -9,14 +9,13 @@ endif()
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO ceres-solver/ceres-solver
-    REF 1.14.0
-    SHA512 6dddddf5bd5834332a69add468578ad527e4d94fe85c9751ddf5fe9ad11a34918bdd9c994c49dd6ffc398333d0ac9752ac89aaef1293e2fe0a55524e303d415d
+    REF 2.0.0
+    SHA512 6379666ef57af4ea85026644fa21365ce18fbaa12d50bd452bcdae0743a7b013effdd42c961e90c31815991bf315bd6904553dcc1a382ff5ed8c7abe9edf9a6c
     HEAD_REF master
     PATCHES
         0001_cmakelists_fixes.patch
         0002_use_glog_target.patch
         0003_fix_exported_ceres_config.patch
-        0004_fix_find_eigen.patch
 )
 
 file(REMOVE ${SOURCE_PATH}/cmake/FindCXSparse.cmake)
diff --git a/ports/theia/portfile.cmake b/ports/theia/portfile.cmake
index 77b4c11c3..e5e7ffcab 100644
--- a/ports/theia/portfile.cmake
+++ b/ports/theia/portfile.cmake
@@ -19,6 +19,9 @@ vcpkg_configure_cmake(
     SOURCE_PATH ${SOURCE_PATH}
     PREFER_NINJA
     OPTIONS
+        -DCMAKE_CXX_STANDARD=14
+        -DCMAKE_CXX_EXTENSIONS=OFF
+        -DCMAKE_CXX_STANDARD_REQUIRED=ON
         -DBUILD_TESTING=OFF
         -DTHEIA_USE_EXTERNAL_CEREAL=ON
         -DTHEIA_USE_EXTERNAL_FLANN=ON