Initial commit

2026-07-03 16:37:12 +07:00
commit 63b8c1ea8b
1931 changed files with 640587 additions and 0 deletions
--- a/ipc/CeresWrapper/CMakeLists.txt
+++ b/ipc/CeresWrapper/CMakeLists.txt
@@ -0,0 +1,125 @@
+cmake_minimum_required(VERSION 3.10)
+project(CeresWrapper VERSION 1.0.0 LANGUAGES CXX)
+
+# Set C++ standard
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+# Build shared library
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+# Find required packages
+find_package(Ceres REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+# Include directories
+include_directories(
+    ${CERES_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIR}
+)
+
+# Source files
+set(SOURCES
+    ceres_wrapper.cc
+)
+
+# Header files
+set(HEADERS
+    ceres_wrapper.h
+)
+
+# Create shared library
+add_library(ceres_wrapper SHARED ${SOURCES} ${HEADERS})
+
+# Set library properties
+set_target_properties(ceres_wrapper PROPERTIES
+    VERSION ${PROJECT_VERSION}
+    SOVERSION 1
+    PUBLIC_HEADER "${HEADERS}"
+    CXX_VISIBILITY_PRESET hidden
+    VISIBILITY_INLINES_HIDDEN ON
+)
+
+# Add compile definition for export macro
+target_compile_definitions(ceres_wrapper PRIVATE CERES_WRAPPER_BUILDING)
+
+# Link libraries
+target_link_libraries(ceres_wrapper
+    PUBLIC
+        Ceres::ceres
+        Eigen3::Eigen
+)
+
+# Compiler-specific options
+if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
+    target_compile_options(ceres_wrapper PRIVATE
+        -Wall
+        -Wextra
+        -Wpedantic
+        -fvisibility=hidden
+    )
+endif()
+
+# Install rules
+install(TARGETS ceres_wrapper
+    LIBRARY DESTINATION lib
+    ARCHIVE DESTINATION lib
+    PUBLIC_HEADER DESTINATION include/ceres_wrapper
+)
+
+# Install header
+install(FILES ${HEADERS}
+    DESTINATION include/ceres_wrapper
+)
+
+# ============================================================================
+# Test executable
+# ============================================================================
+
+option(BUILD_TESTS "Build test executable" ON)
+
+if(BUILD_TESTS)
+    enable_language(C)
+    
+    # Test source
+    add_executable(ceres_wrapper_test
+        ceres_wrapper_test.c
+    )
+    
+    # Link test executable
+    target_link_libraries(ceres_wrapper_test
+        PRIVATE
+            ceres_wrapper
+            Ceres::ceres
+    )
+    
+    # Include directories for test
+    target_include_directories(ceres_wrapper_test PRIVATE
+        ${CMAKE_CURRENT_SOURCE_DIR}
+        ${CERES_INCLUDE_DIRS}
+    )
+    
+    # Add compile definition for Ceres include if needed
+    if(CERES_INCLUDE_DIRS)
+        target_compile_definitions(ceres_wrapper_test PRIVATE
+            CERES_INCLUDE_DIR="${CERES_INCLUDE_DIRS}"
+        )
+    endif()
+    
+    # Add test to CTest
+    add_test(NAME CeresWrapperTest COMMAND ceres_wrapper_test)
+    
+    message(STATUS "  Tests: Enabled")
+else()
+    message(STATUS "  Tests: Disabled")
+endif()
+
+# Build configuration summary
+message(STATUS "CeresWrapper Configuration:")
+message(STATUS "  Version: ${PROJECT_VERSION}")
+message(STATUS "  C++ Standard: ${CMAKE_CXX_STANDARD}")
+message(STATUS "  Ceres Include: ${CERES_INCLUDE_DIRS}")
+message(STATUS "  Eigen3 Include: ${EIGEN3_INCLUDE_DIR}")
+message(STATUS "  Build Type: ${CMAKE_BUILD_TYPE}")
+message(STATUS "  Install Prefix: ${CMAKE_INSTALL_PREFIX}")