Merge pull request #2232 from borglab/feature/boost_and_flags

Fix Boost and badges

Author: jlblancoc

.github/scripts/python.sh

@@ -45,6 +45,16 @@ function build()
 {
   export CMAKE_GENERATOR=Ninja
   BUILD_PYBIND="ON"
+
+  # Add Boost hints on Windows
+  BOOST_CMAKE_ARGS=""
+  if [[ "$OSTYPE" == "msys" || "$OSTYPE" == "win32" || "$OSTYPE" == "cygwin" ]]; then
+    if [ -n "${BOOST_ROOT}" ]; then
+     BOOST_ROOT_UNIX=$(echo "$BOOST_ROOT" | sed 's/\\/\//g')
+     BOOST_CMAKE_ARGS="-DBOOST_ROOT=${BOOST_ROOT_UNIX} -DBOOST_INCLUDEDIR=${BOOST_ROOT_UNIX}/include -DBOOST_LIBRARYDIR=${BOOST_ROOT_UNIX}/lib"
+    fi
+  fi
+
   cmake $GITHUB_WORKSPACE \
       -B build \
       -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
@@ -58,9 +68,11 @@ function build()
       -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
       -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
       -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
+      -DGTSAM_USE_BOOST_FEATURES=ON \
+      -DGTSAM_ENABLE_BOOST_SERIALIZATION=ON \
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
-      -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
-
+      -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install \
+      $BOOST_CMAKE_ARGS
 
   # Set to 2 cores so that Actions does not error out during resource provisioning.
   cmake --build build -j2

.github/workflows/build-python.yml

@@ -3,7 +3,19 @@ name: Python CI
 # Since this is a required check, specify paths-ignore in the check-paths job
 # instead of under 'pull_request:'. Otherwise, the check is still required but
 # never runs, and a maintainer must bypass the check in order to merge the PR.
-on: [pull_request]
+on:
+  push:
+    branches:
+      - develop
+    paths-ignore:
+      - '**.md'
+      - '**.ipynb'
+      - 'myst.yml'
+  pull_request:
+    paths-ignore:
+      - '**.md'
+      - '**.ipynb'
+      - 'myst.yml'
 
 # Every time you make a push to your PR, it cancel immediately the previous checks,
 # and start a new one. The other runner will be available more quickly to your PR.

.github/workflows/build-windows.yml

@@ -115,18 +115,20 @@ jobs:
       - name: Configuration
         shell: bash
         run: |
-          export CMAKE_GENERATOR=Ninja 
+          export CMAKE_GENERATOR=Ninja
+          # Convert Windows backslashes to forward slashes for CMake
+          BOOST_ROOT_UNIX=$(echo "$BOOST_ROOT" | sed 's/\\/\//g')
           cmake -E remove_directory build
           if [ "${{ matrix.build_type }}" = "Release" ]; then
             cmake -B build \
                   -S . \
                   -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
                   -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
-                  -DBOOST_ROOT="${BOOST_ROOT}" \
                   -DGTSAM_USE_BOOST_FEATURES=ON \
                   -DGTSAM_ENABLE_BOOST_SERIALIZATION=ON \
-                  -DBOOST_INCLUDEDIR="${BOOST_ROOT}\\boost\\include" \
-                  -DBOOST_LIBRARYDIR="${BOOST_ROOT}\\lib"
+                  -DBOOST_ROOT="${BOOST_ROOT_UNIX}" \
+                  -DBOOST_INCLUDEDIR="${BOOST_ROOT_UNIX}/include" \
+                  -DBOOST_LIBRARYDIR="${BOOST_ROOT_UNIX}/lib"
           else
             cmake -B build \
                   -S . \

README.md

@@ -13,14 +13,13 @@ mapping (SAM) in robotics and vision, using Factor Graphs and Bayes
 Networks as the underlying computing paradigm rather than sparse
 matrices.
 
-The current support matrix is:
-
-|      Platform      | Compiler  |                                   Build Status                                   |
-| :----------------: | :-------: | :------------------------------------------------------------------------------: |
-| Ubuntu 22.04/24.04 | gcc/clang |   ![Linux CI](https://github.com/borglab/gtsam/workflows/Linux%20CI/badge.svg)   |
-|       macOS        |   clang   |   ![macOS CI](https://github.com/borglab/gtsam/workflows/macOS%20CI/badge.svg)   |
-|      Windows       |   MSVC    | ![Windows CI](https://github.com/borglab/gtsam/workflows/Windows%20CI/badge.svg) |
 
+<!-- Main CI Badges (develop branch) -->
+| CI Status | Platform | Compiler |
+|:----------|:---------|:---------|
+| [![Python CI](https://github.com/borglab/gtsam/actions/workflows/build-python.yml/badge.svg?branch=develop)](https://github.com/borglab/gtsam/actions/workflows/build-python.yml?query=branch%3Adevelop) | Ubuntu 22.04, MacOS 13-14, Windows | gcc/clang,MSVC |
+| [![vcpkg](https://github.com/borglab/gtsam/actions/workflows/vcpkg.yml/badge.svg?branch=develop)](https://github.com/borglab/gtsam/actions/workflows/vcpkg.yml?query=branch%3Adevelop) | Latest Windows/Ubuntu/Mac | - |
+| [![Build Wheels for Develop](https://github.com/borglab/gtsam/actions/workflows/build-cibw.yml/badge.svg?branch=develop)](https://github.com/borglab/gtsam/actions/workflows/build-cibw.yml?query=branch%3Adevelop) | See [pypi files](https://pypi.org/project/gtsam-develop/#files); no Windows| - |
 
 On top of the C++ library, GTSAM includes [wrappers for MATLAB & Python](#wrappers).
 
@@ -34,15 +33,29 @@ In the root library folder execute:
 mkdir build
 cd build
 cmake ..
-make check (optional, runs unit tests)
+make check  # optional, runs all unit tests
 make install
 ```
 
 Prerequisites:
 
-- [Boost](http://www.boost.org/users/download/) >= 1.65 (Ubuntu: `sudo apt-get install libboost-all-dev`)
-- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0 (Ubuntu: `sudo apt-get install cmake`)
-- A modern compiler, i.e., at least gcc 4.7.3 on Linux.
+- A modern compiler:
+    - Mac: at least xcode-14.2
+    - Linux: at least clang-11 or gcc-9
+    - Windows: at least msvc-14.2
+- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0
+    - Ubuntu: `sudo apt-get install cmake`
+
+Optional Boost prerequisite:
+
+Boost is now *optional*. Two cmake flags govern its behavior:
+ - `GTSAM_USE_BOOST_FEATURES` = `ON|OFF`: some of our timers and concept checking in the tests still depend on boost.
+ - `GTSAM_ENABLE_BOOST_SERIALIZATION` = `ON|OFF`: serialization of factor graphs, factors, etc still is done using boost
+
+If one or both of these flags are `ON`, you need to install [Boost](http://www.boost.org/users/download/) >= 1.70
+    - Mac: `brew install boost`
+    - Ubuntu: `sudo apt-get install libboost-all-dev`
+    - Windows: We highly recommend using the [vcpkg](https://github.com/microsoft/vcpkg) package manager. For other installation methods or troubleshooting, please see the guidance in the [cmake/HandleBoost.cmake](cmake/HandleBoost.cmake) script.
 
 Optional prerequisites - used automatically if findable by CMake:
 

cmake/HandleBoost.cmake

@@ -1,56 +1,88 @@
-###############################################################################
-# Find boost
-
-# To change the path for boost, you will need to set:
-# BOOST_ROOT: path to install prefix for boost
-# Boost_NO_SYSTEM_PATHS: set to true to keep the find script from ignoring BOOST_ROOT
+################################################################################
+# Find and configure the Boost libraries.
+#
+# To customize the Boost installation path, you can set the following variables
+# when running CMake:
+# - BOOST_ROOT: Path to the Boost installation prefix.
+# - BOOST_INCLUDEDIR: Path to the Boost include directory.
+# - BOOST_LIBRARYDIR: Path to the Boost library directory.
+#
+# These hints are particularly important for manual installations on Windows.
+################################################################################
 
 if(MSVC)
-    # By default, boost only builds static libraries on windows
-    set(Boost_USE_STATIC_LIBS ON)  # only find static libs
-    # If we ever reset above on windows and, ...
-    # If we use Boost shared libs, disable auto linking.
-    # Some libraries, at least Boost Program Options, rely on this to export DLL symbols.
+    # By default, Boost pre-compiled binaries for Windows are static libraries.
+    set(Boost_USE_STATIC_LIBS ON)
     if(NOT Boost_USE_STATIC_LIBS)
         list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK)
     endif()
-    # Virtual memory range for PCH exceeded on VS2015
     if(MSVC_VERSION LESS 1910) # older than VS2017
       list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295)
     endif()
 endif()
 
+# --- GUIDANCE FOR LOCAL WINDOWS DEVELOPMENT ---
+#
+# If you enable Boost features on Windows, there are two primary ways to provide
+# the Boost libraries:
+#
+# 1. RECOMMENDED: Use a package manager like vcpkg.
+#    - Vcpkg (https://github.com/microsoft/vcpkg) handles the download, build,
+#      and integration of Boost. It provides modern CMake config files and works
+#      seamlessly with this script without any special configuration.
+#
+# 2. ALTERNATIVE: Manual Installation (e.g., pre-compiled binaries).
+#    - If you download pre-compiled binaries, you MUST provide hints to CMake so
+#      it can find your installation. At a minimum, set BOOST_ROOT, e.g.:
+#      cmake .. -DBOOST_ROOT=C:/local/boost_1_87_0
+#
+################################################################################
 
-# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
-set(BOOST_FIND_MINIMUM_VERSION 1.65)
-set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex)
+# Set minimum required Boost version and components.
+# NOTE: "system" is intentionally omitted. It is a transitive dependency of other
+# components (like filesystem) and will be found automatically. Explicitly
+# requesting it can cause issues with modern header-only versions of Boost.
+set(BOOST_FIND_MINIMUM_VERSION 1.70)
+set(BOOST_FIND_MINIMUM_COMPONENTS serialization filesystem thread program_options date_time timer chrono regex)
 
-find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS} REQUIRED)
+# Find the Boost package. On systems with modern installations (vcpkg, Homebrew),
+# this will use CMake's "Config mode". With manual installations (especially on
+# Windows), providing the hints above will trigger the legacy "Module mode".
+find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} REQUIRED
+             COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS}
+             )
 
-# Required components
-if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
-    NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY)
-  message(FATAL_ERROR "Missing required Boost components >= v1.65, please install/upgrade Boost or configure your search paths.")
-endif()
+# Verify that the required Boost component targets were successfully found and imported.
+foreach(_t IN ITEMS Boost::serialization Boost::filesystem Boost::thread Boost::date_time)
+  if(NOT TARGET ${_t})
+    message(FATAL_ERROR "Missing required Boost component target: ${_t}. Please install/upgrade Boost or set BOOST_ROOT/Boost_DIR correctly.")
+  endif()
+endforeach()
 
 option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
-# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
+
 set(GTSAM_BOOST_LIBRARIES
   Boost::serialization
-  Boost::system
   Boost::filesystem
   Boost::thread
   Boost::date_time
   Boost::regex
 )
-if (GTSAM_DISABLE_NEW_TIMERS)
-    message("WARNING:  GTSAM timing instrumentation manually disabled")
-    list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS)
+
+if(GTSAM_DISABLE_NEW_TIMERS)
+  message("WARNING:  GTSAM timing instrumentation manually disabled")
+  list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS)
 else()
-    if(Boost_TIMER_LIBRARY)
-      list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer Boost::chrono)
+  # Link against compiled timer libraries if they exist.
+  if(TARGET Boost::timer AND TARGET Boost::chrono)
+    list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer Boost::chrono)
+  else()
+    # Fallback for header-only timer: link librt on Linux.
+    if(UNIX AND NOT APPLE)
+      list(APPEND GTSAM_BOOST_LIBRARIES rt)
+      message("WARNING:  Using header-only Boost timer; adding -lrt on Linux.")
     else()
-      list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt
-      message("WARNING:  GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
+      message("WARNING:  Using header-only Boost timer; no extra libs required on this platform.")
     endif()
-endif()
+  endif()
+endif()

gtsam/3rdparty/GeographicLib/CMakeLists.txt

@@ -47,7 +47,7 @@ set (LIBVERSION_BUILD 17.1.2)
 string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
 string (TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
 
-cmake_minimum_required (VERSION 3.5) # This version was released 2011-02-16
+cmake_minimum_required (VERSION 3.10)
 
 # User-settable variables
 

gtsam/3rdparty/metis/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 project(METIS)
 
 # Add flags for currect directory and below