| # Ceres Solver - A fast non-linear least squares minimizer |
| # Copyright 2023 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. |
| # |
| # Support for building Ceres Solver with a specific configuration. |
| |
| CERES_SRCS = ["internal/ceres/" + filename for filename in [ |
| "accelerate_sparse.cc", |
| "array_utils.cc", |
| "block_evaluate_preparer.cc", |
| "block_jacobi_preconditioner.cc", |
| "block_jacobian_writer.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", |
| "context.cc", |
| "context_impl.cc", |
| "coordinate_descent_minimizer.cc", |
| "corrector.cc", |
| "cost_function.cc", |
| "covariance.cc", |
| "covariance_impl.cc", |
| "dense_cholesky.cc", |
| "dense_normal_cholesky_solver.cc", |
| "dense_qr.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", |
| "evaluation_callback.cc", |
| "evaluator.cc", |
| "file.cc", |
| "first_order_function.cc", |
| "float_suitesparse.cc", |
| "function_sample.cc", |
| "gradient_checker.cc", |
| "gradient_checking_cost_function.cc", |
| "gradient_problem.cc", |
| "gradient_problem_solver.cc", |
| "implicit_schur_complement.cc", |
| "inner_product_computer.cc", |
| "is_close.cc", |
| "iteration_callback.cc", |
| "iterative_refiner.cc", |
| "iterative_schur_complement_solver.cc", |
| "levenberg_marquardt_strategy.cc", |
| "line_search.cc", |
| "line_search_direction.cc", |
| "line_search_minimizer.cc", |
| "line_search_preprocessor.cc", |
| "linear_least_squares_problems.cc", |
| "linear_operator.cc", |
| "linear_solver.cc", |
| "loss_function.cc", |
| "low_rank_inverse_hessian.cc", |
| "manifold.cc", |
| "minimizer.cc", |
| "normal_prior.cc", |
| "parallel_invoke.cc", |
| "parallel_utils.cc", |
| "parallel_vector_ops.cc", |
| "parameter_block_ordering.cc", |
| "partitioned_matrix_view.cc", |
| "polynomial.cc", |
| "power_series_expansion_preconditioner.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", |
| "stringprintf.cc", |
| "subset_preconditioner.cc", |
| "suitesparse.cc", |
| "thread_pool.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", |
| ]] |
| |
| # TODO(rodrigoq): add support to 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. |
| def ceres_library(name, |
| restrict_schur_specializations=False): |
| # The path to internal/ depends on whether Ceres is the main workspace or |
| # an external repository. |
| if native.repository_name() != '@': |
| internal = 'external/%s/internal' % native.repository_name().lstrip('@') |
| else: |
| internal = 'internal' |
| |
| # The fixed-size Schur eliminator template instantiations incur a large |
| # binary size penalty, and are slow to compile, so support disabling them. |
| schur_eliminator_copts = [] |
| if restrict_schur_specializations: |
| schur_eliminator_copts.append("-DCERES_RESTRICT_SCHUR_SPECIALIZATION") |
| schur_sources = [ |
| "internal/ceres/generated/schur_eliminator_d_d_d.cc", |
| "internal/ceres/generated/partitioned_matrix_view_d_d_d.cc", |
| ] |
| else: |
| schur_sources = native.glob(["internal/ceres/generated/*.cc"]) |
| |
| native.cc_library( |
| name = name, |
| |
| # Internal sources, options, and dependencies. |
| srcs = CERES_SRCS + schur_sources + native.glob([ |
| "include/ceres/internal/*.h", |
| ]) + native.glob([ |
| "internal/ceres/*.h", |
| ]), |
| |
| # These headers are made available to other targets. |
| hdrs = |
| native.glob(["include/ceres/*.h"]) + native.glob([ |
| "include/ceres/internal/*.h", |
| ]) + |
| |
| # This is an empty config and export, since the |
| # Bazel-based build does not generate a |
| # config.h/export.h. This is fine, since Bazel properly |
| # handles propagating -D defines to dependent targets. |
| native.glob([ |
| "config/ceres/internal/config.h", |
| "config/ceres/internal/export.h", |
| ]), |
| copts = [ |
| "-I" + internal, |
| "-Wunused-parameter", |
| "-Wno-sign-compare", |
| ] + schur_eliminator_copts, |
| |
| # These include directories and defines are propagated to other targets |
| # depending on Ceres. |
| # 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. |
| # https://github.com/ceres-solver/ceres-solver/issues/396 |
| defines = [ |
| "CERES_EXPORT=", |
| "CERES_NO_ACCELERATE_SPARSE", |
| "CERES_NO_CHOLMOD_PARTITION", |
| "CERES_NO_CUDA", |
| "CERES_NO_EIGEN_METIS", |
| "CERES_NO_EXPORT=", |
| "CERES_NO_LAPACK", |
| "CERES_NO_SUITESPARSE", |
| "CERES_USE_EIGEN_SPARSE", |
| ], |
| includes = [ |
| "config", |
| "include", |
| ], |
| visibility = ["//visibility:public"], |
| deps = [ |
| "@com_gitlab_libeigen_eigen//:eigen", |
| "@com_github_google_glog//:glog", |
| ], |
| ) |
