Initial commit of Ceres Solver.
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
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+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# 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)
+
+SET(CERES_INTERNAL_SRC
+ block_evaluate_preparer.cc
+ block_jacobian_writer.cc
+ block_random_access_dense_matrix.cc
+ block_random_access_matrix.cc
+ block_random_access_sparse_matrix.cc
+ block_sparse_matrix.cc
+ block_structure.cc
+ canonical_views_clustering.cc
+ compressed_row_jacobian_writer.cc
+ compressed_row_sparse_matrix.cc
+ conditioned_cost_function.cc
+ conjugate_gradients_solver.cc
+ corrector.cc
+ dense_qr_solver.cc
+ dense_sparse_matrix.cc
+ detect_structure.cc
+ evaluator.cc
+ file.cc
+ gradient_checking_cost_function.cc
+ implicit_schur_complement.cc
+ iterative_schur_complement_solver.cc
+ levenberg_marquardt.cc
+ linear_least_squares_problems.cc
+ linear_operator.cc
+ linear_solver.cc
+ local_parameterization.cc
+ loss_function.cc
+ normal_prior.cc
+ partitioned_matrix_view.cc
+ problem.cc
+ problem_impl.cc
+ program.cc
+ residual_block.cc
+ residual_block_utils.cc
+ runtime_numeric_diff_cost_function.cc
+ schur_complement_solver.cc
+ schur_eliminator.cc
+ schur_ordering.cc
+ scratch_evaluate_preparer.cc
+ solver.cc
+ solver_impl.cc
+ sparse_matrix.cc
+ sparse_normal_cholesky_solver.cc
+ split.cc
+ stringprintf.cc
+ suitesparse.cc
+ triplet_sparse_matrix.cc
+ types.cc
+ visibility_based_preconditioner.cc
+ visibility.cc
+)
+
+If (PROTOBUF_FOUND)
+ PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS matrix.proto)
+ENDIF (PROTOBUF_FOUND)
+
+# Also depend on the header files so that they appear in IDEs.
+FILE(GLOB CERES_INTERNAL_HDRS *.h)
+
+# Include the specialized schur solvers.
+IF (SCHUR_SPECIALIZATIONS)
+ FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/*.cc)
+ELSE (SCHUR_SPECIALIZATIONS)
+ # Only the fully dynamic solver.
+ FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/schur_eliminator_d_d_d.cc)
+ENDIF (SCHUR_SPECIALIZATIONS)
+
+ADD_LIBRARY(ceres
+ ${PROTO_SRCS}
+ ${PROTO_HDRS}
+ ${CERES_INTERNAL_SRC}
+ ${CERES_INTERNAL_HDRS}
+ ${CERES_INTERNAL_SCHUR_FILES})
+
+# TODO(keir): Make linking gomp optional for e.g. Windows.
+SET(CERES_LIBRARY_DEPENDENCIES
+ ${GLOG_LIB}
+ ${GFLAGS_LIB}
+ ${LAPACK_LIB}
+ ${CAMD_LIB}
+ ${AMD_LIB}
+ ${CCOLAMD_LIB}
+ ${COLAMD_LIB}
+ ${CHOLMOD_LIB})
+
+IF (EXISTS ${METIS_LIB})
+ SET(CERES_LIBRARY_DEPENDENCIES
+ ${CERES_LIBRARY_DEPENDENCIES}
+ ${METIS_LIB})
+ENDIF (EXISTS ${METIS_LIB})
+
+IF (OPENMP_FOUND)
+ SET(CERES_LIBRARY_DEPENDENCIES
+ ${CERES_LIBRARY_DEPENDENCIES}
+ gomp)
+ENDIF (OPENMP_FOUND)
+
+IF (PROTOBUF_FOUND)
+ SET(CERES_LIBRARY_DEPENDENCIES
+ ${CERES_LIBRARY_DEPENDENCIES}
+ ${PROTOBUF_LIBRARY})
+ENDIF (PROTOBUF_FOUND)
+
+TARGET_LINK_LIBRARIES(ceres ${CERES_LIBRARY_DEPENDENCIES})
+
+OPTION(BUILD_TESTS "Build the unit tests." ON)
+IF (BUILD_TESTS)
+ ADD_LIBRARY(gtest gmock_gtest_all.cc gmock_main.cc)
+ ADD_LIBRARY(test_util test_util.cc)
+ TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIB} ${GLOG_LIB})
+
+ MACRO (CERES_TEST NAME)
+ ADD_EXECUTABLE(${NAME}_test ${NAME}_test.cc)
+ TARGET_LINK_LIBRARIES(${NAME}_test test_util ceres gtest)
+ ADD_TEST(${NAME}_test
+ ${NAME}_test
+ --test_srcdir
+ ${CMAKE_SOURCE_DIR}/data)
+ ENDMACRO (CERES_TEST)
+
+ CERES_TEST(autodiff)
+ CERES_TEST(autodiff_cost_function)
+ CERES_TEST(block_random_access_dense_matrix)
+ CERES_TEST(block_random_access_sparse_matrix)
+ CERES_TEST(block_sparse_matrix)
+ CERES_TEST(canonical_views_clustering)
+ CERES_TEST(compressed_row_sparse_matrix)
+ CERES_TEST(conditioned_cost_function)
+ CERES_TEST(corrector)
+ CERES_TEST(dense_sparse_matrix)
+ CERES_TEST(evaluator)
+ CERES_TEST(gradient_checking_cost_function)
+ CERES_TEST(graph)
+ CERES_TEST(graph_algorithms)
+ CERES_TEST(implicit_schur_complement)
+ CERES_TEST(iterative_schur_complement_solver)
+ CERES_TEST(jet)
+ CERES_TEST(levenberg_marquardt)
+ CERES_TEST(local_parameterization)
+ CERES_TEST(loss_function)
+ CERES_TEST(normal_prior)
+ CERES_TEST(numeric_diff_cost_function)
+ CERES_TEST(parameter_block)
+ CERES_TEST(partitioned_matrix_view)
+ CERES_TEST(problem)
+ CERES_TEST(residual_block)
+ CERES_TEST(residual_block_utils)
+ CERES_TEST(rotation)
+ CERES_TEST(runtime_numeric_diff_cost_function)
+ CERES_TEST(schur_complement_solver)
+ CERES_TEST(schur_eliminator)
+ CERES_TEST(schur_ordering)
+ CERES_TEST(solver_impl)
+ CERES_TEST(symmetric_linear_solver)
+ CERES_TEST(system)
+ CERES_TEST(triplet_sparse_matrix)
+ CERES_TEST(unsymmetric_linear_solver)
+ CERES_TEST(visibility)
+ CERES_TEST(visibility_based_preconditioner)
+ENDIF (BUILD_TESTS)
