| # 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. |
| |
| load("//:bazel/ceres.bzl", "ceres_library") |
| |
| ceres_library( |
| name = "ceres", |
| restrict_schur_specializations = False, |
| ) |
| |
| cc_library( |
| name = "test_util", |
| 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", |
| "gmock/gmock.h", |
| "gmock/mock-log.h", |
| "gtest/gtest.h", |
| ]], |
| hdrs = [ |
| "internal/ceres/gmock/gmock.h", |
| "internal/ceres/gmock/mock-log.h", |
| "internal/ceres/gtest/gtest.h", |
| ], |
| copts = [ |
| "-Wno-sign-compare", |
| "-DCERES_TEST_SRCDIR_SUFFIX=\\\"data/\\\"", |
| ], |
| includes = [ |
| "internal", |
| "internal/ceres", |
| ], |
| deps = [ |
| "//:ceres", |
| "@com_github_gflags_gflags//:gflags", |
| ], |
| ) |
| |
| CERES_TESTS = [ |
| "array_utils", |
| "autodiff_cost_function", |
| "autodiff_manifold", |
| "autodiff", |
| "block_jacobi_preconditioner", |
| "block_random_access_dense_matrix", |
| "block_random_access_diagonal_matrix", |
| "block_random_access_sparse_matrix", |
| "block_sparse_matrix", |
| "canonical_views_clustering", |
| "c_api", |
| "compressed_col_sparse_matrix_utils", |
| "compressed_row_sparse_matrix", |
| "concurrent_queue", |
| "conditioned_cost_function", |
| "conjugate_gradients_solver", |
| "corrector", |
| "cost_function_to_functor", |
| "covariance", |
| "cubic_interpolation", |
| "dense_cholesky", |
| "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", |
| "evaluation_callback", |
| "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_refiner", |
| "iterative_schur_complement_solver", |
| "jet", |
| "levenberg_marquardt_strategy", |
| "line_search_minimizer", |
| "line_search_preprocessor", |
| "loss_function", |
| "minimizer", |
| "normal_prior", |
| "numeric_diff_cost_function", |
| "ordered_groups", |
| "parallel_for", |
| "parallel_utils", |
| "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", |
| "subset_preconditioner", |
| "system", |
| "thread_pool", |
| "tiny_solver_autodiff_function", |
| "tiny_solver_cost_function_adapter", |
| "tiny_solver", |
| "triplet_sparse_matrix", |
| "trust_region_minimizer", |
| "trust_region_preprocessor", |
| "visibility_based_preconditioner", |
| "visibility", |
| ] |
| |
| TEST_COPTS = [ |
| # Needed to silence GFlags complaints. |
| "-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-address", |
| ] |
| |
| TEST_DEPS = [ |
| "//:ceres", |
| "//:test_util", |
| "@com_gitlab_libeigen_eigen//:eigen", |
| "@com_github_gflags_gflags//:gflags", |
| ] |
| |
| # Instantiate all the tests with a template. |
| [cc_test( |
| name = test_name + "_test", |
| timeout = "short", |
| srcs = ["internal/ceres/" + test_name + "_test.cc"], |
| copts = TEST_COPTS, |
| deps = TEST_DEPS, |
| ) for test_name in CERES_TESTS] |
| |
| # Instantiate all the bundle adjustment tests. These are separate to |
| # parallelize the execution of the tests; otherwise the tests take a long time. |
| # |
| # Note: While it is possible to run the Python script to generate the .cc files |
| # as part of the build, it introduces an undesirable build-time Python |
| # dependency that we'd prefer to avoid. |
| [cc_test( |
| name = test_filename.split("/")[-1][:-3], # Remove .cc. |
| timeout = "moderate", |
| srcs = [test_filename], |
| copts = TEST_COPTS, |
| |
| # This is the data set that is bundled for the testing. |
| data = [":data/problem-16-22106-pre.txt"], |
| deps = TEST_DEPS, |
| ) for test_filename in glob([ |
| "internal/ceres/generated_bundle_adjustment_tests/*_test.cc", |
| ])] |
| |
| # Build the benchmarks. |
| [cc_binary( |
| name = benchmark_name, |
| srcs = ["internal/ceres/" + benchmark_name + ".cc"], |
| copts = TEST_COPTS, |
| deps = TEST_DEPS + ["@com_github_google_benchmark//:benchmark"], |
| ) for benchmark_name in [ |
| "small_blas_gemm_benchmark", |
| "small_blas_gemv_benchmark", |
| ]] |