[SymForce] Remove local Catch2 (instead fetch it)

It's my understanding we only had a local copy because in the past it
wasn't possible to fetch from github.

This PR:
- Deletes the local copy of Catch2 and instead fetches it in our build
files
- Replaces the old mono-header with the split up headers. This is not
strictly necessary, as the new versions of Catch2 still have a
mono-header, but the authors of Catch2 recommend this change to speed up
compile times.
- Does not change the version of Catch2 that we use (v3.0.0-preview3)

We don't update to the latest version (v3.0.1) because it does not
compile on all the gcc compiler versions we'd like to support (for
example gcc-5).

As a note, one benefit of v3.0.1 over v3.0.0-preview3 is that v3.0.1
will compile on ubuntu-22.04 (see
#132)

**Overview of changes**

Needed to change the `CMakeLists.txt` to use the `Catch2::Catch2WithMain`
target (which we use instead of `Catch2::Catch2` because we don't define
a custom main method for any of our tests).

Deleted the old `third_party/catch2` because it's being replaced.

Most of the work was simply changing the includes to use the appropriate
headers instead of `#include "catch.hpp"`. Could have used `#include
<catch2/catch_all.hpp>`, but the catch2 docs recomends to not do this,
and instead include the specific headers to speed up compilation time
(at the cost of convenience)

Topic: update_catch2
GitOrigin-RevId: 5e16e149657a7807b8baf7209969a88bf4361dc0

Author: bradley-solliday-skydio

CMakeLists.txt

@@ -162,17 +162,28 @@ if(SYMFORCE_EIGEN_TARGET STREQUAL "Eigen3::Eigen")
   endif()
 endif()
 
-# TODO(aaron): This goes away when we upgrade to Catch2 v3
-add_library(
-  symforce_catch2
-  ${SYMFORCE_LIBRARY_TYPE}
-  EXCLUDE_FROM_ALL  # Only build this if something needs it
-  third_party/catch2/src/catch_amalgamated.cpp test/catch_main.cc
-)
-target_include_directories(
-  symforce_catch2
-  PUBLIC third_party/catch2/include
-)
+# ------------------------------------------------------------------------------
+# catch2
+
+if(SYMFORCE_BUILD_BENCHMARKS OR SYMFORCE_BUILD_TESTS)
+  find_package(Catch2 3.0.0 QUIET)
+  if(NOT Catch2_FOUND)
+    message(STATUS "Catch2 not found, adding with FetchContent")
+    function(add_catch)
+      FetchContent_Declare(
+        Catch2
+        GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+        GIT_TAG b9853b4b356b83bb580c746c3a1f11101f9af54f  # v3.0.0-preview3
+      )
+
+      FetchContent_MakeAvailable(Catch2)
+    endfunction()
+
+    add_catch()
+  else()
+    message(STATUS "Catch2 found at ${Catch2_DIR}")
+  endif()
+endif()
 
 # ==============================================================================
 # SymForce Targets

LICENSE

@@ -211,11 +211,6 @@ and is licensed as described in symforce/opt/cholesky/LICENSE
 SymForce bundles several third party libraries, with documentation of
 licensing and modifications as follows:
 
-### Catch2: C++ Unit testing framework
-
-- Included unmodified in third_party/catch2
-- Licensed under the BSL-1.0 License
-
 ### SymEngine: C++ symbolic manipulation library
 
 - Included with modifications in third_party/symengine

symforce/benchmarks/CMakeLists.txt

@@ -114,7 +114,7 @@ function(add_matrix_multiplication_benchmark matrix_name)
 
     target_link_libraries(
         matrix_multiplication_benchmark_${matrix_name}
-        symforce_catch2
+        Catch2::Catch2WithMain
         symforce_gen
         symforce_opt
     )
@@ -142,7 +142,7 @@ find_package(Sophus REQUIRED)
 target_link_libraries(
     inverse_compose_jacobian_benchmark
     gtsam
-    symforce_catch2
+    Catch2::Catch2WithMain
     symforce_gen
     symforce_opt
 )
@@ -162,7 +162,7 @@ add_executable(
 target_link_libraries(
     robot_3d_localization_benchmark
     gtsam
-    symforce_catch2
+    Catch2::Catch2WithMain
     symforce_gen
     symforce_opt
     symforce_examples

symforce/benchmarks/inverse_compose_jacobian/inverse_compose_jacobian_benchmark.cc

@@ -16,7 +16,8 @@
 
 #include <Eigen/Dense>
 #include <Eigen/Sparse>
-#include <catch.hpp>
+#include <catch2/catch_template_test_macros.hpp>
+#include <catch2/catch_test_macros.hpp>
 #include <gtsam/geometry/Pose3.h>
 #include <sophus/se3.hpp>
 #include <spdlog/spdlog.h>

symforce/benchmarks/matrix_multiplication/gen/matrix_multiplication_benchmark_Tina_DisCog.cc

@@ -19,13 +19,13 @@
 
 #include <Eigen/Dense>
 #include <Eigen/Sparse>
+#include <catch2/catch_template_test_macros.hpp>
+#include <catch2/catch_test_macros.hpp>
 #include <spdlog/spdlog.h>
 
 #include <symforce/opt/tic_toc.h>
 #include <symforce/opt/util.h>
 
-#include "catch.hpp"
-
 using namespace sym;
 
 #include "./compute_a_Tina_DisCog.h"

symforce/benchmarks/matrix_multiplication/gen/matrix_multiplication_benchmark_b1_ss.cc

@@ -19,13 +19,13 @@
 
 #include <Eigen/Dense>
 #include <Eigen/Sparse>
+#include <catch2/catch_template_test_macros.hpp>
+#include <catch2/catch_test_macros.hpp>
 #include <spdlog/spdlog.h>
 
 #include <symforce/opt/tic_toc.h>
 #include <symforce/opt/util.h>
 
-#include "catch.hpp"
-
 using namespace sym;
 
 #include "./compute_a_b1_ss.h"

symforce/benchmarks/matrix_multiplication/gen/matrix_multiplication_benchmark_bibd_9_3.cc

@@ -19,13 +19,13 @@
 
 #include <Eigen/Dense>
 #include <Eigen/Sparse>
+#include <catch2/catch_template_test_macros.hpp>
+#include <catch2/catch_test_macros.hpp>
 #include <spdlog/spdlog.h>
 
 #include <symforce/opt/tic_toc.h>
 #include <symforce/opt/util.h>
 
-#include "catch.hpp"
-
 using namespace sym;
 
 #include "./compute_a_bibd_9_3.h"

symforce/benchmarks/matrix_multiplication/gen/matrix_multiplication_benchmark_lp_sc105.cc

@@ -19,13 +19,13 @@
 
 #include <Eigen/Dense>
 #include <Eigen/Sparse>
+#include <catch2/catch_template_test_macros.hpp>
+#include <catch2/catch_test_macros.hpp>
 #include <spdlog/spdlog.h>
 
 #include <symforce/opt/tic_toc.h>
 #include <symforce/opt/util.h>
 
-#include "catch.hpp"
-
 using namespace sym;
 
 #include "./compute_a_dense_dynamic_lp_sc105.h"

symforce/benchmarks/matrix_multiplication/gen/matrix_multiplication_benchmark_n3c4_b2.cc

@@ -19,13 +19,13 @@
 
 #include <Eigen/Dense>
 #include <Eigen/Sparse>
+#include <catch2/catch_template_test_macros.hpp>
+#include <catch2/catch_test_macros.hpp>
 #include <spdlog/spdlog.h>
 
 #include <symforce/opt/tic_toc.h>
 #include <symforce/opt/util.h>
 
-#include "catch.hpp"
-
 using namespace sym;
 
 #include "./compute_a_dense_dynamic_n3c4_b2.h"

symforce/benchmarks/matrix_multiplication/gen/matrix_multiplication_benchmark_rotor1.cc

@@ -19,13 +19,13 @@
 
 #include <Eigen/Dense>
 #include <Eigen/Sparse>
+#include <catch2/catch_template_test_macros.hpp>
+#include <catch2/catch_test_macros.hpp>
 #include <spdlog/spdlog.h>
 
 #include <symforce/opt/tic_toc.h>
 #include <symforce/opt/util.h>
 
-#include "catch.hpp"
-
 using namespace sym;
 
 #include "./compute_a_dense_dynamic_rotor1.h"

symforce/benchmarks/matrix_multiplication/matrix_multiplication_benchmark.cc.jinja

@@ -23,7 +23,8 @@
 #include <symforce/opt/tic_toc.h>
 #include <symforce/opt/util.h>
 
-#include "catch.hpp"
+#include <catch2/catch_template_test_macros.hpp>
+#include <catch2/catch_test_macros.hpp>
 
 using namespace sym;
 

symforce/benchmarks/robot_3d_localization/robot_3d_localization_benchmark.cc

@@ -18,6 +18,8 @@
 
 #include <Eigen/Dense>
 #include <Eigen/Sparse>
+#include <catch2/catch_template_test_macros.hpp>
+#include <catch2/catch_test_macros.hpp>
 #include <spdlog/spdlog.h>
 
 #include <sym/rot3.h>
@@ -35,7 +37,6 @@
 
 #include "./robot_3d_localization_ceres.h"
 #include "./robot_3d_localization_gtsam.h"
-#include "catch.hpp"
 
 using namespace robot_3d_localization;
 

symforce/codegen/backends/cpp/templates/tests/cam_function_codegen_cpp_test.cc.jinja

@@ -17,12 +17,13 @@
 #include <fmt/ostream.h>
 #include <spdlog/spdlog.h>
 
+#include <catch2/catch_template_test_macros.hpp>
+#include <catch2/catch_test_macros.hpp>
+
 // TODO(nathan): We just test linear camera for now, but could/should test other types in the future
 #include <sym/linear_camera_cal.h>
 #include "symforce_function_codegen_test_data/symengine/symforce_gen_codegen_test_data/cam_function_codegen_test/pixel_to_ray_and_back.h"
 
-#include "catch.hpp"
-
 TEMPLATE_TEST_CASE("Test generated function", "[cam_function]", sym::LinearCameraCal<double>,
                    sym::LinearCameraCal<float>) {
   using T = TestType;

symforce/codegen/backends/cpp/templates/tests/cam_package_cpp_test.cc.jinja

@@ -30,7 +30,10 @@
 #include <sym/ops/lie_group_ops.h>
 #include <sym/util/epsilon.h>
 
-#include "catch.hpp"
+#include <catch2/catch_template_test_macros.hpp>
+#include <catch2/catch_test_macros.hpp>
+#include <catch2/generators/catch_generators.hpp>
+#include <catch2/generators/catch_generators_range.hpp>
 
 template <typename T>
 T CalFromData(std::initializer_list<typename T::Scalar> data) {

symforce/codegen/backends/cpp/templates/tests/geo_package_cpp_test.cc.jinja

@@ -31,7 +31,8 @@
 #include <sym/util/epsilon.h>
 #include <symforce/opt/util.h>
 
-#include "catch.hpp"
+#include <catch2/catch_template_test_macros.hpp>
+#include <catch2/catch_test_macros.hpp>
 
 TEST_CASE("Test Rot3", "[geo_package]") {
   // Make a random rotation

test/CMakeLists.txt

@@ -16,7 +16,7 @@ add_library(
   ${SYMFORCE_TEST_SOURCES}
   ${SYMFORCE_TEST_HEADERS}
 )
-target_link_libraries(symforce_test symforce_catch2 symforce_gen symforce_opt)
+target_link_libraries(symforce_test Catch2::Catch2WithMain symforce_gen symforce_opt)
 target_include_directories(symforce_test
   INTERFACE symforce_function_codegen_test_data/symengine/cam_function_codegen_test_data/cpp
   INTERFACE symforce_function_codegen_test_data/symengine/codegen_multi_function_test_data/cpp

test/cam_function_codegen_cpp_test.cc

@@ -15,13 +15,14 @@
  */
 
 #include <Eigen/Dense>
+#include <catch2/catch_template_test_macros.hpp>
+#include <catch2/catch_test_macros.hpp>
 #include <fmt/ostream.h>
 #include <spdlog/spdlog.h>
 
 // TODO(nathan): We just test linear camera for now, but could/should test other types in the future
 #include <sym/linear_camera_cal.h>
 
-#include "catch.hpp"
 #include "symforce_function_codegen_test_data/symengine/symforce_gen_codegen_test_data/cam_function_codegen_test/pixel_to_ray_and_back.h"
 
 TEMPLATE_TEST_CASE("Test generated function", "[cam_function]", sym::LinearCameraCal<double>,

test/cam_package_cpp_test.cc

@@ -17,6 +17,10 @@
 #include <random>
 
 #include <Eigen/Dense>
+#include <catch2/catch_template_test_macros.hpp>
+#include <catch2/catch_test_macros.hpp>
+#include <catch2/generators/catch_generators.hpp>
+#include <catch2/generators/catch_generators_range.hpp>
 #include <fmt/ostream.h>
 #include <spdlog/spdlog.h>
 
@@ -34,8 +38,6 @@
 #include <sym/spherical_camera_cal.h>
 #include <sym/util/epsilon.h>
 
-#include "catch.hpp"
-
 template <typename T>
 T CalFromData(std::initializer_list<typename T::Scalar> data) {
   Eigen::Matrix<typename T::Scalar, sym::StorageOps<T>::StorageDim(), 1> data_vec;

test/catch_main.cc

@@ -4,6 +4,8 @@
  * ---------------------------------------------------------------------------- */
 
 #include <Eigen/Dense>
+#include <catch2/catch_approx.hpp>
+#include <catch2/catch_test_macros.hpp>
 
 #include <lcmtypes/codegen_cpp_test/constants_t.hpp>
 #include <lcmtypes/codegen_cpp_test/states_t.hpp>
@@ -12,8 +14,6 @@
 #include <sym/rot3.h>
 #include <symforce/codegen_cpp_test/codegen_cpp_test.h>
 
-#include "catch.hpp"
-
 TEST_CASE("Generated C++ compiles", "[codegen_cpp_test]") {
   double x = 2.0;
   double y = -5.0;

test/codegen_cpp_test.cc

@@ -4,15 +4,14 @@
  * ---------------------------------------------------------------------------- */
 
 #include <Eigen/Dense>
+#include <catch2/catch_test_macros.hpp>
 
 #include <lcmtypes/codegen_explicit_template_instantiation_test/constants_t.hpp>
 #include <lcmtypes/codegen_explicit_template_instantiation_test/states_t.hpp>
 #include <lcmtypes/codegen_explicit_template_instantiation_test/values_vec_t.hpp>
 
 #include <symforce/codegen_explicit_template_instantiation_test/codegen_explicit_template_instantiation_test.h>
 
-#include "catch.hpp"
-
 template <typename Scalar>
 void ExplicitTemplateInstantiationTestHelper() {
   // Helper function for calling "ExplicitTemplateInstantiationTest" with different scalar types

test/codegen_explicit_template_instantiation_test.cc

@@ -4,8 +4,8 @@
  * ---------------------------------------------------------------------------- */
 
 #include <Eigen/Dense>
+#include <catch2/catch_test_macros.hpp>
 
-#include "catch.hpp"
 #include "symforce_function_codegen_test_data/symengine/codegen_matrix_order_data/matrix_order.h"
 
 TEST_CASE("Codegened matrix order is correct", "[codegen_matrix_order]") {

test/codegen_matrix_order_test.cc

@@ -3,6 +3,9 @@
  * This source code is under the Apache 2.0 license found in the LICENSE file.
  * ---------------------------------------------------------------------------- */
 
+#include <catch2/catch_approx.hpp>
+#include <catch2/catch_test_macros.hpp>
+
 #include <lcmtypes/codegen_multi_function_test/inputs_constants_t.hpp>
 #include <lcmtypes/codegen_multi_function_test/inputs_states_t.hpp>
 #include <lcmtypes/codegen_multi_function_test/inputs_t.hpp>
@@ -13,8 +16,6 @@
 #include <symforce/codegen_multi_function_test/codegen_multi_function_test1.h>
 #include <symforce/codegen_multi_function_test/codegen_multi_function_test2.h>
 
-#include "catch.hpp"
-
 template <typename T>
 void FillChunkOfValues(T& values) {
   sym::Rot3<double> rot;

test/codegen_multi_function_test.cc

@@ -5,13 +5,12 @@
 
 #include <math.h>
 
+#include <catch2/catch_test_macros.hpp>
 #include <spdlog/spdlog.h>
 
 #include <sym/rot3.h>
 #include <symforce/codegen_nan_test/identity_dist_jacobian.h>
 
-#include "catch.hpp"
-
 TEST_CASE("Codegen function does not generate NaN", "[codegen_nan_test]") {
   spdlog::info("*** Testing codegen function for NaNs ***");
 

test/codegen_nan_test.cc

@@ -7,14 +7,13 @@
 
 #include <Eigen/Dense>
 #include <Eigen/Sparse>
+#include <catch2/catch_test_macros.hpp>
 #include <spdlog/spdlog.h>
 
 #include <symforce/codegen_sparse_matrix_test/get_diagonal_sparse.h>
 #include <symforce/codegen_sparse_matrix_test/get_multiple_dense_and_sparse.h>
 #include <symforce/codegen_sparse_matrix_test/update_sparse_mat.h>
 
-#include "catch.hpp"
-
 const int DIM = 100;
 
 TEST_CASE("Sparse Matrix codegen works", "[codegen_sparse_matrix]") {