diff --git a/internal/ceres/generate_bundle_adjustment_tests.py b/internal/ceres/generate_bundle_adjustment_tests.py
new file mode 100644
index 0000000..97b47b0
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+++ b/internal/ceres/generate_bundle_adjustment_tests.py
@@ -0,0 +1,232 @@
+# 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: keir@google.com (Keir Mierle)
+#
+# Generate bundle adjustment tests as separate binaries. Since the bundle
+# adjustment tests are fairly processing intensive, serializing them makes the
+# tests take forever to run. Splitting them into separate binaries makes it
+# easier to parallelize in continous integration systems, and makes local
+# processing on multi-core workstations much faster.
+
+# Product of ORDERINGS, THREAD_CONFIGS, and SOLVER_CONFIGS is the full set of
+# tests to generate.
+ORDERINGS = ["kAutomaticOrdering", "kUserOrdering"]
+THREAD_CONFIGS = ["SolverConfig", "ThreadedSolverConfig"]
+
+SOLVER_CONFIGS = [
+  # Linear solver            Sparse backend      Preconditioner
+  ('DENSE_SCHUR',            'NO_SPARSE',        'IDENTITY'),
+  ('ITERATIVE_SCHUR',        'NO_SPARSE',        'JACOBI'),
+  ('ITERATIVE_SCHUR',        'NO_SPARSE',        'SCHUR_JACOBI'),
+  ('ITERATIVE_SCHUR',        'SUITE_SPARSE',     'CLUSTER_JACOBI'),
+  ('ITERATIVE_SCHUR',        'SUITE_SPARSE',     'CLUSTER_TRIDIAGONAL'),
+  ('SPARSE_NORMAL_CHOLESKY', 'SUITE_SPARSE',     'IDENTITY'),
+  ('SPARSE_NORMAL_CHOLESKY', 'EIGEN_SPARSE',     'IDENTITY'),
+  ('SPARSE_NORMAL_CHOLESKY', 'CX_SPARSE',        'IDENTITY'),
+  ('SPARSE_SCHUR',           'SUITE_SPARSE',     'IDENTITY'),
+  ('SPARSE_SCHUR',           'EIGEN_SPARSE',     'IDENTITY'),
+  ('SPARSE_SCHUR',           'CX_SPARSE',        'IDENTITY'),
+]
+
+FILENAME_SHORTENING_MAP = dict(
+  DENSE_SCHUR='denseschur',
+  ITERATIVE_SCHUR='iterschur',
+  SPARSE_NORMAL_CHOLESKY='sparsecholesky',
+  SPARSE_SCHUR='sparseschur',
+  NO_SPARSE='',  # Omit sparse reference entirely for dense tests.
+  SUITE_SPARSE='suitesparse',
+  EIGEN_SPARSE='eigensparse',
+  CX_SPARSE='cxsparse',
+  IDENTITY='identity',
+  JACOBI='jacobi',
+  SCHUR_JACOBI='schurjacobi',
+  CLUSTER_JACOBI='clustjacobi',
+  CLUSTER_TRIDIAGONAL='clusttri',
+  kAutomaticOrdering='auto',
+  kUserOrdering='user',
+  SolverConfig='',  # Omit references to threads for single threaded tests.
+  ThreadedSolverConfig='threads',
+)
+
+BUNDLE_ADJUSTMENT_TEST_TEMPLATE = (
+"""// 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.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_bundle_adjustment_tests.py.
+
+#include "bundle_adjustment_test_util.h"
+%(preprocessor_conditions_begin)s
+namespace ceres {
+namespace internal {
+
+TEST_F(BundleAdjustmentTest,
+       %(test_class_name)s) {  // NOLINT
+  RunSolverForConfigAndExpectResidualsMatch(
+      %(thread_config)s(
+          %(linear_solver)s,
+          %(sparse_backend)s,
+          %(ordering)s,
+          %(preconditioner)s));
+}
+
+}  // namespace internal
+}  // namespace ceres
+%(preprocessor_conditions_end)s
+""")
+
+
+def camelcasify(token):
+  """Convert capitalized underscore tokens to camel case"""
+  return ''.join([x.lower().capitalize() for x in token.split('_')])
+
+
+def generate_bundle_test(linear_solver,
+                         sparse_backend,
+                         preconditioner,
+                         ordering,
+                         thread_config):
+  """Generate a bundle adjustment test executable configured appropriately"""
+
+  # Preconditioner only makes sense for iterative schur; drop it otherwise.
+  preconditioner_tag = preconditioner
+  if linear_solver != 'ITERATIVE_SCHUR':
+    preconditioner_tag = ''
+
+  # Omit references to the sparse backend when one is not in use.
+  sparse_backend_tag = sparse_backend
+  if sparse_backend == 'NO_SPARSE':
+    sparse_backend_tag = ''
+
+  # Use a double underscore; otherwise the names are harder to understand.
+  test_class_name = '_'.join(filter(lambda x: x, [
+      camelcasify(linear_solver),
+      camelcasify(sparse_backend_tag),
+      camelcasify(preconditioner_tag),
+      ordering[1:],  # Strip 'k'
+      'Threads' if thread_config == 'ThreadedSolverConfig' else '']))
+
+  # Initial template parameters (augmented more below).
+  template_parameters = dict(
+          linear_solver=linear_solver,
+          sparse_backend=sparse_backend,
+          preconditioner=preconditioner,
+          ordering=ordering,
+          thread_config=thread_config,
+          test_class_name=test_class_name)
+
+  # Accumulate appropriate #ifdef/#ifndefs for the solver's sparse backend.
+  preprocessor_conditions_begin = []
+  preprocessor_conditions_end = []
+  if sparse_backend == 'SUITE_SPARSE':
+    preprocessor_conditions_begin.append('#ifndef CERES_NO_SUITESPARSE')
+    preprocessor_conditions_end.insert(0, '#endif  // CERES_NO_SUITESPARSE')
+  elif sparse_backend == 'CX_SPARSE':
+    preprocessor_conditions_begin.append('#ifndef CERES_NO_CXSPARSE')
+    preprocessor_conditions_end.insert(0, '#endif  // CERES_NO_CXSPARSE')
+  elif sparse_backend == 'EIGEN_SPARSE':
+    preprocessor_conditions_begin.append('#ifdef CERES_USE_EIGEN_SPARSE')
+    preprocessor_conditions_end.insert(0, '#endif  // CERES_USE_EIGEN_SPARSE')
+
+  # Accumulate appropriate #ifdef/#ifndefs for threading conditions.
+  if thread_config == 'ThreadedSolverConfig':
+    preprocessor_conditions_begin.append('#ifndef CERES_NO_THREADS')
+    preprocessor_conditions_end.insert(0, '#endif  // CERES_NO_THREADS')
+
+  # If there are #ifdefs, put newlines around them.
+  if preprocessor_conditions_begin:
+    preprocessor_conditions_begin.insert(0, '')
+    preprocessor_conditions_begin.append('')
+    preprocessor_conditions_end.insert(0, '')
+    preprocessor_conditions_end.append('')
+
+  # Put #ifdef/#ifndef stacks into the template parameters.
+  template_parameters['preprocessor_conditions_begin'] = '\n'.join(
+      preprocessor_conditions_begin)
+  template_parameters['preprocessor_conditions_end'] = '\n'.join(
+      preprocessor_conditions_end)
+
+  # Substitute variables into the test template, and write the result to a file.
+  filename_tag = '_'.join(FILENAME_SHORTENING_MAP.get(x) for x in [
+      linear_solver,
+      sparse_backend_tag,
+      preconditioner_tag,
+      ordering,
+      thread_config]
+      if FILENAME_SHORTENING_MAP.get(x))
+  filename = ('generated_bundle_adjustment_tests/ba_%s_test.cc' %
+              filename_tag.lower())
+  with open(filename, 'w') as fd:
+    fd.write(BUNDLE_ADJUSTMENT_TEST_TEMPLATE % template_parameters)
+
+  # All done.
+  print 'Generated', filename
+
+
+if __name__ == '__main__':
+  # Iterate over all the possible configurations and generate the tests.
+  for linear_solver, sparse_backend, preconditioner in SOLVER_CONFIGS:
+    for ordering in ORDERINGS:
+      for thread_config in THREAD_CONFIGS:
+        generate_bundle_test(linear_solver,
+                             sparse_backend,
+                             preconditioner,
+                             ordering,
+                             thread_config)