Add initial Bazel build, including tests.
This allows building and running the Ceres tests, without
needing any external dependencies; they are downloaded and
compiled automatically thanks to the magic of Bazel.
It also opens the door for other projects that use Ceres
easily thanks to Bazel's external dependency support.
Remaining work:
- Skylark macros to allow different Ceres configurations
- Checking to make sure external projects can use this
- Parallelizing bundle_adjustment_test execution
Sample output:
INFO: Analysed target //:ceres (6 packages loaded).
INFO: Found 1 target...
Target //:ceres up-to-date:
bazel-bin/libceres.a
bazel-bin/libceres.so
INFO: Elapsed time: 103.756s, Critical Path: 13.97s
INFO: Build completed successfully, 131 total actions
Change-Id: I400d3ce43f35b7e7a770da346337e3ffdb500dc2
diff --git a/BUILD b/BUILD
new file mode 100644
index 0000000..3a0d3d6
--- /dev/null
+++ b/BUILD
@@ -0,0 +1,369 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2017 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+# used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: mierle@gmail.com (Keir Mierle)
+#
+# These are Bazel rules to build Ceres. It's currently in Alpha state, and does
+# not support parameterization around threading choice or sparse backends.
+
+CERES_SRCS = ['internal/ceres/' + filename for filename in [
+ 'array_utils.cc',
+ 'blas.cc',
+ 'block_evaluate_preparer.cc',
+ 'block_jacobian_writer.cc',
+ 'block_jacobi_preconditioner.cc',
+ 'block_random_access_dense_matrix.cc',
+ 'block_random_access_diagonal_matrix.cc',
+ 'block_random_access_matrix.cc',
+ 'block_random_access_sparse_matrix.cc',
+ 'block_sparse_matrix.cc',
+ 'block_structure.cc',
+ 'c_api.cc',
+ 'callbacks.cc',
+ 'canonical_views_clustering.cc',
+ 'cgnr_solver.cc',
+ 'compressed_col_sparse_matrix_utils.cc',
+ 'compressed_row_jacobian_writer.cc',
+ 'compressed_row_sparse_matrix.cc',
+ 'conditioned_cost_function.cc',
+ 'conjugate_gradients_solver.cc',
+ 'coordinate_descent_minimizer.cc',
+ 'corrector.cc',
+ 'covariance.cc',
+ 'covariance_impl.cc',
+ 'dense_normal_cholesky_solver.cc',
+ 'dense_qr_solver.cc',
+ 'dense_sparse_matrix.cc',
+ 'detect_structure.cc',
+ 'dogleg_strategy.cc',
+ 'dynamic_compressed_row_jacobian_writer.cc',
+ 'dynamic_compressed_row_sparse_matrix.cc',
+ 'dynamic_sparse_normal_cholesky_solver.cc',
+ 'eigensparse.cc',
+ 'evaluator.cc',
+ 'file.cc',
+ 'function_sample.cc',
+ 'gradient_checker.cc',
+ 'gradient_checking_cost_function.cc',
+ 'gradient_problem.cc',
+ 'gradient_problem_solver.cc',
+ 'is_close.cc',
+ 'implicit_schur_complement.cc',
+ 'inner_product_computer.cc',
+ 'iterative_schur_complement_solver.cc',
+ 'lapack.cc',
+ 'levenberg_marquardt_strategy.cc',
+ 'line_search.cc',
+ 'line_search_direction.cc',
+ 'line_search_minimizer.cc',
+ 'linear_least_squares_problems.cc',
+ 'linear_operator.cc',
+ 'line_search_preprocessor.cc',
+ 'linear_solver.cc',
+ 'local_parameterization.cc',
+ 'loss_function.cc',
+ 'low_rank_inverse_hessian.cc',
+ 'minimizer.cc',
+ 'normal_prior.cc',
+ 'parameter_block_ordering.cc',
+ 'partitioned_matrix_view.cc',
+ 'polynomial.cc',
+ 'preconditioner.cc',
+ 'preprocessor.cc',
+ 'problem.cc',
+ 'problem_impl.cc',
+ 'program.cc',
+ 'reorder_program.cc',
+ 'residual_block.cc',
+ 'residual_block_utils.cc',
+ 'schur_complement_solver.cc',
+ 'schur_eliminator.cc',
+ 'schur_jacobi_preconditioner.cc',
+ 'schur_templates.cc',
+ 'scratch_evaluate_preparer.cc',
+ 'single_linkage_clustering.cc',
+ 'solver.cc',
+ 'solver_utils.cc',
+ 'sparse_cholesky.cc',
+ 'sparse_matrix.cc',
+ 'sparse_normal_cholesky_solver.cc',
+ 'split.cc',
+ 'stringprintf.cc',
+ 'suitesparse.cc',
+ 'thread_token_provider.cc',
+ 'triplet_sparse_matrix.cc',
+ 'trust_region_minimizer.cc',
+ 'trust_region_preprocessor.cc',
+ 'trust_region_step_evaluator.cc',
+ 'trust_region_strategy.cc',
+ 'types.cc',
+ 'visibility_based_preconditioner.cc',
+ 'visibility.cc',
+ 'wall_time.cc',
+ 'generated/schur_eliminator_d_d_d.cc',
+ 'generated/schur_eliminator_2_2_2.cc',
+ 'generated/schur_eliminator_2_2_3.cc',
+ 'generated/schur_eliminator_2_2_4.cc',
+ 'generated/schur_eliminator_2_2_d.cc',
+ 'generated/schur_eliminator_2_3_3.cc',
+ 'generated/schur_eliminator_2_3_4.cc',
+ 'generated/schur_eliminator_2_3_6.cc',
+ 'generated/schur_eliminator_2_3_9.cc',
+ 'generated/schur_eliminator_2_3_d.cc',
+ 'generated/schur_eliminator_2_4_3.cc',
+ 'generated/schur_eliminator_2_4_4.cc',
+ 'generated/schur_eliminator_2_4_6.cc',
+ 'generated/schur_eliminator_2_4_8.cc',
+ 'generated/schur_eliminator_2_4_9.cc',
+ 'generated/schur_eliminator_2_4_d.cc',
+ 'generated/schur_eliminator_2_d_d.cc',
+ 'generated/schur_eliminator_4_4_2.cc',
+ 'generated/schur_eliminator_4_4_3.cc',
+ 'generated/schur_eliminator_4_4_4.cc',
+ 'generated/schur_eliminator_4_4_d.cc',
+ 'generated/partitioned_matrix_view_d_d_d.cc',
+ 'generated/partitioned_matrix_view_2_2_2.cc',
+ 'generated/partitioned_matrix_view_2_2_3.cc',
+ 'generated/partitioned_matrix_view_2_2_4.cc',
+ 'generated/partitioned_matrix_view_2_2_d.cc',
+ 'generated/partitioned_matrix_view_2_3_3.cc',
+ 'generated/partitioned_matrix_view_2_3_4.cc',
+ 'generated/partitioned_matrix_view_2_3_6.cc',
+ 'generated/partitioned_matrix_view_2_3_9.cc',
+ 'generated/partitioned_matrix_view_2_3_d.cc',
+ 'generated/partitioned_matrix_view_2_4_3.cc',
+ 'generated/partitioned_matrix_view_2_4_4.cc',
+ 'generated/partitioned_matrix_view_2_4_6.cc',
+ 'generated/partitioned_matrix_view_2_4_8.cc',
+ 'generated/partitioned_matrix_view_2_4_9.cc',
+ 'generated/partitioned_matrix_view_2_4_d.cc',
+ 'generated/partitioned_matrix_view_2_d_d.cc',
+ 'generated/partitioned_matrix_view_4_4_2.cc',
+ 'generated/partitioned_matrix_view_4_4_3.cc',
+ 'generated/partitioned_matrix_view_4_4_4.cc',
+ 'generated/partitioned_matrix_view_4_4_d.cc'
+]]
+
+# TODO(keir): This should get converted into a Skylark function that can
+# configure Ceres into various permutations, like SuiteSparse or not, threading
+# or not, glog or not, and so on.
+# See https://github.com/ceres-solver/ceres-solver/issues/335.
+cc_library(
+ name = 'ceres',
+
+ # These include directories and defines are propagated to other targets
+ # depending on Ceres.
+ includes = [
+ 'include',
+ 'config'
+ ],
+
+ # TODO(keir): These defines are placeholders for now to facilitate getting
+ # started with a Bazel build. However, these should become configurable as
+ # part of a Skylark Ceres target macro.
+ defines = [
+ 'CERES_NO_SUITESPARSE',
+ 'CERES_NO_CXSPARSE',
+ 'CERES_NO_THREADS',
+ 'CERES_NO_LAPACK',
+ 'CERES_STD_UNORDERED_MAP',
+ ],
+
+ # These headers are made available to other targets.
+ hdrs =
+ glob(['include/ceres/*.h']) +
+ glob(['include/ceres/internal/*.h']) +
+
+ # This is an empty config, since the Bazel-based build does not
+ # generate a config.h from config.h.in. This is fine, since Bazel
+ # properly handles propagating -D defines to dependent targets.
+ glob(['config/ceres/internal/config.h']),
+
+ # Internal sources, options, and dependencies.
+ srcs = CERES_SRCS +
+ glob(['include/ceres/internal/*.h']) +
+ glob(['internal/ceres/*.h']),
+
+ copts = [
+ '-Iinternal',
+ '-Wno-sign-compare',
+ ],
+
+ deps = [
+ '@com_github_eigen_eigen//:eigen',
+ '@com_github_google_glog//:glog',
+ ],
+ visibility = ['//visibility:public'],
+)
+
+cc_library(
+ name = 'test_util',
+ defines = [
+ 'CERES_GFLAGS_NAMESPACE=gflags',
+ ],
+
+ copts = [
+ '-Wno-sign-compare',
+ '-DCERES_TEST_SRCDIR_SUFFIX=\\"data/\\"'
+ ],
+
+ includes = [
+ 'internal',
+ 'internal/ceres',
+ ],
+
+ hdrs = [
+ 'internal/ceres/gtest/gtest.h',
+ 'internal/ceres/gmock/gmock.h',
+ 'internal/ceres/gmock/mock-log.h',
+ ],
+
+ srcs = ['internal/ceres/' + x for x in [
+ 'evaluator_test_utils.cc',
+ 'numeric_diff_test_utils.cc',
+ 'test_util.cc',
+ 'gmock_gtest_all.cc',
+ 'gmock_main.cc',
+ ]],
+
+ deps = [
+ '//:ceres',
+ '@com_github_gflags_gflags//:gflags',
+ ]
+)
+
+CERES_TESTS = [
+ 'array_utils',
+ 'autodiff_cost_function',
+ 'autodiff_local_parameterization',
+ 'autodiff',
+ 'block_jacobi_preconditioner',
+ 'block_random_access_dense_matrix',
+ 'block_random_access_diagonal_matrix',
+ 'block_random_access_sparse_matrix',
+ 'block_sparse_matrix',
+ 'bundle_adjustment',
+ 'canonical_views_clustering',
+ 'c_api',
+ 'compressed_col_sparse_matrix_utils',
+ 'compressed_row_sparse_matrix',
+ 'conditioned_cost_function',
+ 'conjugate_gradients_solver',
+ 'corrector',
+ 'cost_function_to_functor',
+ 'covariance',
+ 'cubic_interpolation',
+ 'dense_linear_solver',
+ 'dense_sparse_matrix',
+ 'detect_structure',
+ 'dogleg_strategy',
+ 'dynamic_autodiff_cost_function',
+ 'dynamic_compressed_row_sparse_matrix',
+ 'dynamic_numeric_diff_cost_function',
+ 'dynamic_sparse_normal_cholesky_solver',
+ 'dynamic_sparsity',
+ 'evaluator',
+ 'gradient_checker',
+ 'gradient_checking_cost_function',
+ 'gradient_problem_solver',
+ 'gradient_problem',
+ 'graph_algorithms',
+ 'graph',
+ 'householder_vector',
+ 'implicit_schur_complement',
+ 'inner_product_computer',
+ 'invert_psd_matrix',
+ 'is_close',
+ 'iterative_schur_complement_solver',
+ 'jet',
+ 'levenberg_marquardt_strategy',
+ 'line_search_minimizer',
+ 'line_search_preprocessor',
+ 'local_parameterization',
+ 'loss_function',
+ 'minimizer',
+ 'normal_prior',
+ 'numeric_diff_cost_function',
+ 'ordered_groups',
+ 'parameter_block_ordering',
+ 'parameter_block',
+ 'partitioned_matrix_view',
+ 'polynomial',
+ 'problem',
+ 'program',
+ 'reorder_program',
+ 'residual_block',
+ 'residual_block_utils',
+ 'rotation',
+ 'schur_complement_solver',
+ 'schur_eliminator',
+ 'single_linkage_clustering',
+ 'small_blas',
+ 'solver',
+ 'sparse_cholesky',
+ 'sparse_normal_cholesky_solver',
+ 'system',
+ 'tiny_solver_autodiff_function',
+ 'tiny_solver_cost_function_adapter',
+ 'tiny_solver',
+ 'triplet_sparse_matrix',
+ 'trust_region_minimizer',
+ 'trust_region_preprocessor',
+ 'visibility_based_preconditioner',
+ 'visibility',
+ ]
+
+# Instantiate all the tests with a template.
+# TODO(keir): Use a Skylark macro to support tests having unique settings, like
+# big or small without duplicating the common components (deps, etc).
+# See https://github.com/ceres-solver/ceres-solver/issues/336.
+[cc_test(
+ name = test_name + '_test',
+ srcs = ['internal/ceres/' + test_name + '_test.cc'],
+ copts = [
+ '-Wno-sign-compare'
+
+ # These two warnings don't work well in conjunction with GMock, and
+ # trigger incorrectly on parts of rotation_test. For now, disable them,
+ # but in the future disable these warnings only for rotation_test.
+ # TODO(keir): When the tests are macro-ified, apply these selectively.
+ '-Wno-nonnull-compare',
+ '-Wno-address',
+ ],
+ deps = [
+ '//:test_util',
+ '//:ceres',
+ '@com_github_eigen_eigen//:eigen',
+ '@com_github_gflags_gflags//:gflags',
+ ],
+
+ # Needed for bundle_adjustment_test.
+ data = [':data/problem-16-22106-pre.txt'],
+ timeout = 'long'
+ )
+ for test_name in CERES_TESTS]
diff --git a/WORKSPACE b/WORKSPACE
new file mode 100644
index 0000000..97087b8
--- /dev/null
+++ b/WORKSPACE
@@ -0,0 +1,76 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2017 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+# used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Authors: mierle@gmail.com (Keir Mierle)
+#
+# Bazel workspace file to enable building Ceres with Bazel.
+
+workspace(name = 'com_google_ceres_solver')
+
+# External dependency: Google Flags; has Bazel build already.
+http_archive(
+ name = "com_github_gflags_gflags",
+ sha256 = "6e16c8bc91b1310a44f3965e616383dbda48f83e8c1eaa2370a215057b00cabe",
+ strip_prefix = "gflags-77592648e3f3be87d6c7123eb81cbad75f9aef5a",
+ urls = [
+ "https://mirror.bazel.build/github.com/gflags/gflags/archive/77592648e3f3be87d6c7123eb81cbad75f9aef5a.tar.gz",
+ "https://github.com/gflags/gflags/archive/77592648e3f3be87d6c7123eb81cbad75f9aef5a.tar.gz",
+ ],
+)
+
+# External dependency: Google Log; has Bazel build already.
+http_archive(
+ name = "com_github_google_glog",
+ sha256 = "1ee310e5d0a19b9d584a855000434bb724aa744745d5b8ab1855c85bff8a8e21",
+ strip_prefix = "glog-028d37889a1e80e8a07da1b8945ac706259e5fd8",
+ urls = [
+ "https://github.com/google/glog/archive/028d37889a1e80e8a07da1b8945ac706259e5fd8.tar.gz",
+ ],
+)
+
+# External dependency: Eigen; has no Bazel build, so make a hacky one.
+# TODO(keir): Replace this with a better version, like from TensorFlow.
+# See https://github.com/ceres-solver/ceres-solver/issues/337.
+new_http_archive(
+ name = 'com_github_eigen_eigen',
+ sha256 = "dd254beb0bafc695d0f62ae1a222ff85b52dbaa3a16f76e781dce22d0d20a4a6",
+ strip_prefix = "eigen-eigen-5a0156e40feb",
+ urls = [
+ "http://bitbucket.org/eigen/eigen/get/3.3.4.tar.bz2"
+ ],
+ build_file_content = '''
+cc_library(
+ name = 'eigen',
+ srcs = [],
+ includes = ['.'],
+ hdrs = glob(['Eigen/**']),
+ visibility = ['//visibility:public'],
+)
+'''
+)
+
