%global forgeurl0   https://gitlab.freedesktop.org/mateosss/basalt/
%global commit0     673cc5c68b1889f4d6567fa85fe2631672704351
%global date        20240310

# Submodules in forgeurl0
%global forgeurl1   https://github.com/CLIUtils/CLI11/
%global commit1     4af78beef777e313814b4daff70e2da9171a385a
%global forgeurl2   https://github.com/stevenlovegrove/Pangolin/
%global commit2     86eb4975fc4fc8b5d92148c2e370045ae9bf9f5d
%global forgeurl3   https://gitlab.freedesktop.org/mateosss/basalt-headers/
%global commit3     28b09b3a5802d44835655778cdd9b1974569bd47
%global forgeurl4   https://github.com/Neargye/magic_enum/
%global commit4     3d1f6a5a2a3fbcba077e00ad0ccc2dd9fefc2ca7
%global forgeurl5   https://github.com/laurentkneip/opengv/
%global commit5     91f4b19c73450833a40e463ad3648aae80b3a7f3
%global forgeurl6   https://github.com/strasdat/Sophus/
%global commit6     8e1941677ef214aab0397608f42b18fbe1a19885
%global forgeurl7   https://github.com/USCiLab/cereal/
%global commit7     ebef1e929807629befafbb2918ea1a08c7194554
%global forgeurl8   https://gitlab.com/libeigen/eigen/
%global commit8     3147391d946bb4b6c68edd901f2add6ac1f31f8c
%global forgeurl9   https://github.com/ros/console_bridge/
%global commit9     f0b423c0c2d02651db1776c96887c0a314908063
%global forgeurl10  https://github.com/ros/ros_comm/
%global commit10    194c776737134a429619f6851f1850734843e210
%global forgeurl11  https://github.com/NikolausDemmel/roscpp_core/
%global commit11    1a74781ce707b1a2198d1bd6799b892b3c1fa195

%forgemeta

Name:           basalt
# FIXME: upstream versioning is commit based
Version:        0
Release:        %autorelease
Summary:        Visual-Inertial Mapping with Non-Linear Factor Recovery

License:        BSD-3-Clause
URL:            %{forgeurl0}
Source0:        %{forgesource0}
# License: BSD-3-Clause
Source1:        %{forgeurl1}/archive/%{commit1}/CLI11-%{commit1}.tar.gz
# License: MIT
Source2:        %{forgeurl2}/archive/%{commit2}/Pangolin-%{commit2}.tar.gz
# License: BSD-3-Clause
Source3:        %{forgeurl3}/-/archive/%{commit3}/basalt-headers-%{commit3}.tar.bz2
# License: MIT
Source4:        %{forgeurl4}/archive/%{commit4}/magic_enum-%{commit4}.tar.gz
# License: BSD-3-Clause
Source5:        %{forgeurl5}/archive/%{commit5}/opengv-%{commit5}.tar.gz
# License: MIT
Source6:        %{forgeurl6}/archive/%{commit6}/Sophus-%{commit6}.tar.gz
# License: BSD-3-Clause
Source7:        %{forgeurl7}/archive/%{commit7}/cereal-%{commit7}.tar.gz
# License: MPL-2.0
Source8:        %{forgeurl8}/-/archive/%{commit8}/eigen-%{commit8}.tar.bz2
# License: BSD-3-Clause
Source9:        %{forgeurl9}/archive/%{commit9}/console_bridge-%{commit9}.tar.gz
# License: FIXME - unknown
Source10:       %{forgeurl10}/archive/%{commit10}/ros_comm-%{commit10}.tar.gz
# License: FIXME - unknown
Source11:       %{forgeurl11}/archive/%{commit11}/roscpp_core-%{commit11}.tar.gz

# https://gitlab.freedesktop.org/mateosss/basalt/-/merge_requests/56
Patch0:         basalt-95dd2d7bc5fddaf893103fdc1d4fed687dcc327b-cmake-gnuinstalldirs.patch
# https://github.com/stevenlovegrove/Pangolin/pull/911 applied to old commit
Patch1:         basalt-95dd2d7bc5fddaf893103fdc1d4fed687dcc327b-pagolin-add-stdint.patch
# https://gitlab.freedesktop.org/mateosss/basalt/-/merge_requests/56
Patch2:         basalt-95dd2d7bc5fddaf893103fdc1d4fed687dcc327b-cmake-basalt-pkgconfig-gnuinstalldirs.patch


BuildRequires:  boost-devel
BuildRequires:  cmake
BuildRequires:  doxygen
BuildRequires:  gcc-c++
BuildRequires:  git
BuildRequires:  ninja-build
BuildRequires:  pkgconfig(bzip2)
BuildRequires:  pkgconfig(eigen3)
BuildRequires:  pkgconfig(fmt)
BuildRequires:  pkgconfig(glew)
BuildRequires:  pkgconfig(liblz4)
BuildRequires:  pkgconfig(opencv)
BuildRequires:  pkgconfig(opengl)
BuildRequires:  pkgconfig(tbb)

# Best effort commit to version mapping for all thirdparty sources
Provides: bundled(cli11) = 2.0.0
Provides: bundled(pangolin) = 0.6
Provides: bundled(basalt-headers)
Provides: bundled(magic_enum) = 0.7.3
Provides: bundled(opengv)
Provides: bundled(sophus) = 1.22.10
Provides: bundled(cereal) = 1.3.2
Provides: bundled(eigen3) = 3.4.0
Provides: bundled(console_bridge) = 0.4.3
Provides: bundled(ros_com)
Provides: bundled(roscpp_core)


%description
This project contains tools for:

Camera, IMU and motion capture calibration.
Visual-inertial odometry and mapping.
Simulated environment to test different components of the system.


%package devel
Requires: %{name}%{?_isa} = %{version}-%{release}
Summary:  Development files for Basalt

%description devel
Devel information for Basalt.


%prep
%forgesetup

# Extract libraries that are bundled
tar -xvf %{SOURCE1} --strip-components 1 -C thirdparty/CLI11
tar -xvf %{SOURCE2} --strip-components 1 -C thirdparty/Pangolin
tar -xvf %{SOURCE3} --strip-components 1 -C thirdparty/basalt-headers
tar -xvf %{SOURCE4} --strip-components 1 -C thirdparty/magic_enum
tar -xvf %{SOURCE5} --strip-components 1 -C thirdparty/opengv
tar -xvf %{SOURCE6} --strip-components 1 -C thirdparty/basalt-headers/thirdparty/Sophus
tar -xvf %{SOURCE7} --strip-components 1 -C thirdparty/basalt-headers/thirdparty/cereal
tar -xvf %{SOURCE8} --strip-components 1 -C thirdparty/basalt-headers/thirdparty/eigen
tar -xvf %{SOURCE9} --strip-components 1 -C thirdparty/ros/console_bridge
tar -xvf %{SOURCE10} --strip-components 1 -C thirdparty/ros/ros_comm
tar -xvf %{SOURCE11} --strip-components 1 -C thirdparty/ros/roscpp_core

%autopatch -p1


%build
# W: package-with-huge-docs 83%
# CMake errors:
#   -DBUILD_TESTS=on \
#thirdparty/basalt-headers/test/googletest does not contain a CMakeLists.txt file
#thirdparty/basalt-headers/test/benchmark does not contain a CMakeLists.txt file

%cmake -GNinja \
  -DCMAKE_BUILD_TYPE=RelWithDebInfo \
  -DEIGEN_ROOT=%{_includedir}/eigen3 \
  -DBASALT_BUILD_SHARED_LIBRARY_ONLY=on \

%cmake_build


%install
%cmake_install


# FIXME: noop
%check
%ctest


%files
%license LICENSE
%doc README.md doc/*.md
%{_libdir}/libbasalt.so.*
%{_datarootdir}/basalt/*

%files devel
%license LICENSE
%{_libdir}/libbasalt.so
%{_libdir}/pkgconfig/basalt.pc


%changelog
%autochangelog