# 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) | |

EXAMPLE_COPTS = [ | |

# Needed to silence GFlags complaints. | |

"-Wno-sign-compare", | |

] | |

EXAMPLE_DEPS = [ | |

"//:ceres", | |

"@com_github_eigen_eigen//:eigen", | |

"@com_github_gflags_gflags//:gflags", | |

] | |

cc_binary( | |

name = "bundle_adjuster", | |

srcs = [ | |

"bal_problem.cc", | |

"bal_problem.h", | |

"bundle_adjuster.cc", | |

"random.h", | |

"snavely_reprojection_error.h", | |

], | |

copts = EXAMPLE_COPTS, | |

deps = EXAMPLE_DEPS, | |

) | |

cc_binary( | |

name = "denoising", | |

srcs = [ | |

"denoising.cc", | |

"fields_of_experts.cc", | |

"fields_of_experts.h", | |

"pgm_image.h", | |

], | |

copts = EXAMPLE_COPTS, | |

deps = EXAMPLE_DEPS, | |

) | |

cc_binary( | |

name = "robot_pose_mle", | |

srcs = [ | |

"random.h", | |

"robot_pose_mle.cc", | |

], | |

copts = EXAMPLE_COPTS, | |

deps = EXAMPLE_DEPS, | |

) | |

SLAM_COPTS = EXAMPLE_COPTS + ["-Iexamples/slam"] | |

cc_binary( | |

name = "pose_graph_2d", | |

srcs = [ | |

"slam/common/read_g2o.h", | |

"slam/pose_graph_2d/angle_local_parameterization.h", | |

"slam/pose_graph_2d/normalize_angle.h", | |

"slam/pose_graph_2d/pose_graph_2d.cc", | |

"slam/pose_graph_2d/pose_graph_2d_error_term.h", | |

"slam/pose_graph_2d/types.h", | |

], | |

copts = SLAM_COPTS, | |

deps = EXAMPLE_DEPS, | |

) | |

cc_binary( | |

name = "pose_graph_3d", | |

srcs = [ | |

"slam/common/read_g2o.h", | |

"slam/pose_graph_3d/pose_graph_3d.cc", | |

"slam/pose_graph_3d/pose_graph_3d_error_term.h", | |

"slam/pose_graph_3d/types.h", | |

], | |

copts = SLAM_COPTS, | |

deps = EXAMPLE_DEPS, | |

) | |

[cc_binary( | |

name = example, | |

srcs = [example + ".cc"], | |

copts = EXAMPLE_COPTS, | |

deps = EXAMPLE_DEPS, | |

) for example in [ | |

"circle_fit", | |

"curve_fitting", | |

"ellipse_approximation", | |

"helloworld", | |

"helloworld_analytic_diff", | |

"helloworld_numeric_diff", | |

"libmv_bundle_adjuster", | |

"libmv_homography", | |

"more_garbow_hillstrom", | |

"nist", | |

"powell", | |

"robust_curve_fitting", | |

"rosenbrock", | |

"sampled_function/sampled_function", | |

"simple_bundle_adjuster", | |

]] |