third_party/ceres.patch

diff -r -u a/bazel/ceres.bzl b/bazel/ceres.bzl
--- a/bazel/ceres.bzl	2024-06-25 18:35:28.266797366 -0700
+++ b/bazel/ceres.bzl	2024-06-25 18:25:10.919515348 -0700
@@ -189,6 +189,9 @@
             "-I" + internal,
             "-Wunused-parameter",
             "-Wno-sign-compare",
+            "-Wno-format-nonliteral",
+            "-Wno-unused-parameter",
+            "-Wno-unused-but-set-variable",
         ] + schur_eliminator_copts,
 
         # These include directories and defines are propagated to other targets
@@ -214,7 +217,7 @@
         ],
         visibility = ["//visibility:public"],
         deps = [
-            "@com_gitlab_libeigen_eigen//:eigen",
             "@com_github_google_glog//:glog",
+            "@org_tuxfamily_eigen//:eigen",
         ],
     )
diff -r -u a/BUILD b/BUILD
--- a/BUILD	2024-06-25 18:35:28.266797366 -0700
+++ b/BUILD	2024-06-25 18:25:10.919515348 -0700
@@ -32,6 +32,7 @@
 # not support parameterization around threading choice or sparse backends.
 
 load("//:bazel/ceres.bzl", "ceres_library")
+load("@org_frc971//tools/build_rules:select.bzl", "compiler_select")
 
 ceres_library(
     name = "ceres",
@@ -57,6 +58,7 @@
     ],
     copts = [
         "-Wno-sign-compare",
+        "-Wno-unused-but-set-variable",
         "-DCERES_TEST_SRCDIR_SUFFIX=\\\"data/\\\"",
     ],
     includes = [
@@ -165,12 +167,16 @@
     # but in the future disable these warnings only for rotation_test.
     # TODO(keir): When the tests are macro-ified, apply these selectively.
     "-Wno-address",
-]
+    "-Wno-unused-parameter",
+] + compiler_select({
+    "gcc": ["-Wno-use-after-free"],
+    "clang": [],
+})
 
 TEST_DEPS = [
     "//:ceres",
     "//:test_util",
-    "@com_gitlab_libeigen_eigen//:eigen",
+    "@org_tuxfamily_eigen//:eigen",
     "@com_github_gflags_gflags//:gflags",
 ]
 
diff -r -u a/examples/BUILD b/examples/BUILD
--- a/examples/BUILD	2024-06-25 18:35:28.270797439 -0700
+++ b/examples/BUILD	2024-06-25 18:25:32.355906091 -0700
@@ -31,13 +31,14 @@
 EXAMPLE_COPTS = [
     # Needed to silence GFlags complaints.
     "-Wno-sign-compare",
+    "-Wno-unused-parameter",
     # Needed to put fscanf in a function.
     "-Wno-format-nonliteral",
 ]
 
 EXAMPLE_DEPS = [
     "//:ceres",
-    "@com_gitlab_libeigen_eigen//:eigen",
+    "@org_tuxfamily_eigen//:eigen",
     "@com_github_gflags_gflags//:gflags",
 ]
 
diff -r -u a/internal/ceres/autodiff_test.cc b/internal/ceres/autodiff_test.cc
--- a/internal/ceres/autodiff_test.cc	2024-06-25 18:35:28.278797586 -0700
+++ b/internal/ceres/autodiff_test.cc	2024-06-25 18:25:10.935515640 -0700
@@ -647,6 +647,10 @@
   }
 }
 
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wunused-but-set-variable"
+#endif
 // This is fragile test that triggers the alignment bug on
 // i686-apple-darwin10-llvm-g++-4.2 (GCC) 4.2.1. It is quite possible,
 // that other combinations of operating system + compiler will
@@ -671,5 +675,8 @@
   // Need this to makes sure that x does not get optimized out.
   x[0] = x[0] + JetT(1.0);
 }
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
 
 }  // namespace ceres::internal
diff -r -u a/internal/ceres/bundle_adjustment_test_util.h b/internal/ceres/bundle_adjustment_test_util.h
--- a/internal/ceres/bundle_adjustment_test_util.h	2024-06-25 18:35:28.278797586 -0700
+++ b/internal/ceres/bundle_adjustment_test_util.h	2024-06-25 18:32:23.019406091 -0700
@@ -97,7 +97,8 @@
 
  private:
   void ReadData(const std::string& filename) {
-    FILE* fptr = fopen(filename.c_str(), "r");
+    FILE* fptr = fopen(
+        (std::string("../com_google_ceres_solver/") + filename).c_str(), "r");
 
     if (!fptr) {
       LOG(FATAL) << "File Error: unable to open file " << filename;
diff -r -u a/internal/ceres/triplet_sparse_matrix_test.cc b/internal/ceres/triplet_sparse_matrix_test.cc
--- a/internal/ceres/triplet_sparse_matrix_test.cc	2024-06-25 18:35:28.298797952 -0700
+++ b/internal/ceres/triplet_sparse_matrix_test.cc	2024-06-25 18:25:10.963516152 -0700
@@ -184,8 +184,15 @@
   orig.mutable_values()[1] = 5.2;
   orig.set_num_nonzeros(2);
 
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wself-assign-overloaded"
+#endif
   // Who's on earth gonna do this?
   orig = orig;
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
 
   EXPECT_EQ(orig.num_rows(), 2);
   EXPECT_EQ(orig.num_cols(), 5);