[wpical] Refactor to use WPILib libraries, modern C++ conventions, and LGPL libraries

README.md

@@ -59,8 +59,6 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 
 On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be able to use the macOS x86 roboRIO toolchain on ARM.
 
-On linux, run `sudo apt install gfortran`. This is necessary to be able to build WPIcal on linux platforms.
-
 ## Setup
 
 Clone the WPILib repository and follow the instructions above for installing any required tooling. The build process uses versioning information from git. Downloading the source is not sufficient to run the build.

shared/ceres.gradle

@@ -1,12 +1,14 @@
 nativeUtils {
     nativeDependencyContainer {
         ceres(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
-            groupId = "edu.wpi.first.thirdparty.frc2024.ceres"
+            groupId = "edu.wpi.first.thirdparty.frc2025.ceres"
             artifactId = "ceres-cpp"
             headerClassifier = "headers"
+            sourceClassifier = "sources"
             ext = "zip"
-            version = '2.2-3'
+            version = '2.2-2'
             targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
+            targetPlatforms.addAll("linuxarm32", "linuxarm64")
         }
     }
 }

upstream_utils/eigen.py

@@ -51,6 +51,7 @@ def eigen_inclusions(dp: Path, f: str):
     modules = [
         "Cholesky",
         "Core",
+        "Dense",
         "Eigenvalues",
         "Geometry",
         "Householder",
@@ -64,6 +65,7 @@ def eigen_inclusions(dp: Path, f: str):
         "SparseCore",
         "SparseLU",
         "SparseQR",
+        "StdVector",
         "misc",
         "plugins",
     ]

upstream_utils/mrcal_java.py

@@ -32,6 +32,9 @@ def copy_upstream_src(wpilib_root: Path):
         with open(f) as file:
             content = file.read()
             content = content.replace("#include <malloc.h>", "")
+            content = content.replace(
+                "suitesparse/cholmod_core.h", "suitesparse/cholmod.h"
+            )
             content = content.replace(
                 "// mrcal_point3_t *c_observations_point_pool = observations_point;",
                 "mrcal_point3_t *c_observations_point_pool = observations_point;",

wpical/.styleguide

@@ -9,6 +9,7 @@ cppSrcFileInclude {
 }
 
 generatedFileExclude {
+  src/main/native/assets/
   src/main/native/resources/
   src/main/native/thirdparty/
   src/main/native/win/wpical.ico
@@ -20,6 +21,7 @@ repoRootNameOverride {
 }
 
 includeOtherLibs {
+  ^Eigen/
   ^GLFW
   ^ceres/
   ^fmt/
@@ -30,7 +32,7 @@ includeOtherLibs {
   ^mrcal_wrapper\.h$
   ^opencv2\.h$
   ^portable-file-dialogs\.h$
-  ^tagpose\.h$
+  ^units/
   ^wpi/
   ^wpigui
 }

wpical/CMakeLists.txt

@@ -79,7 +79,7 @@ else()
         -Wno-missing-field-initializers
     )
 endif()
-target_compile_options(wpical PRIVATE ${compile_flags})
+set_target_properties(${wpical_thirdparty_src} PROPERTIES COMPILE_FLAGS ${compile_flags})
 
 find_package(OpenCV REQUIRED)
 find_package(Ceres CONFIG REQUIRED)

wpical/build.gradle

@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxarm32') || project.hasProperty('onlylinuxarm64')) {
+if (project.hasProperty('onlylinuxathena')) {
     return;
 }
 
@@ -120,7 +120,7 @@ nativeUtils.platformConfigs.each {
         it.cppCompiler.args.add("-fpermissive")
     }
 }
-def testResources = "\"$rootDir/wpical/src/main/native/resources\"".replace("\\", "/")
+def testResources = "\"$rootDir/wpical/src/main/native/assets\"".replace("\\", "/")
 model {
     components {
         "${nativeName}"(NativeExecutableSpec) {
@@ -152,16 +152,18 @@ model {
                 }
             }
             binaries.all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name.startsWith("linuxarm")) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                     it.buildable = false
                     return
                 }
+                lib project: ':apriltag', library: 'apriltag', linkage: 'static'
+                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')
+                it.cppCompiler.define 'OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT'
                 it.cppCompiler.define 'GLOG_USE_GLOG_EXPORT'
                 if (it.targetPlatform.operatingSystem.isWindows()) {
                     it.cppCompiler.define('GLOG_DEPRECATED', '__declspec(deprecated)')
@@ -175,7 +177,7 @@ 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.linker.args << '-lX11' << "-lgfortran"
+                    it.linker.args << '-lX11'
                     if (it.targetPlatform.name.startsWith('linuxarm')) {
                         it.linker.args << '-lGL'
                     }
@@ -203,16 +205,18 @@ model {
                 }
             }
             binaries.all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name.startsWith("linuxarm")) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                     it.buildable = false
                     return
                 }
+                lib project: ':apriltag', library: 'apriltag', linkage: 'static'
+                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')
+                it.cppCompiler.define 'OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT'
                 it.cppCompiler.define('PROJECT_ROOT_PATH', testResources)
                 it.cppCompiler.define 'GLOG_USE_GLOG_EXPORT'
                 if (it.targetPlatform.name == nativeUtils.wpi.platforms.windowsarm64) {
@@ -236,7 +240,7 @@ 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.linker.args << '-lX11' << '-lgfortran'
+                    it.linker.args << '-lX11'
                     if (it.targetPlatform.name.startsWith('linuxarm')) {
                         it.linker.args << '-lGL'
                     }

wpical/publish.gradle

@@ -42,6 +42,10 @@ model {
                                 into '/'
                             }
 
+                            from(file("$rootDir/wpical/WPICalThirdPartyNotices.txt")) {
+                                into '/'
+                            }
+
                             if (binary.targetPlatform.operatingSystem.isWindows()) {
                                 def exePath = binary.executable.file.absolutePath
                                 exePath = exePath.substring(0, exePath.length() - 4)

wpical/src/main/native/cpp/VideoProcessor.cpp

@@ -0,0 +1,5 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+namespace cameracalibration {}  // namespace cameracalibration