| # Ceres Solver - A fast non-linear least squares minimizer |
| # Copyright 2018 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] |