| # Ceres Solver - A fast non-linear least squares minimizer |
| # Copyright 2022 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 %Cmust 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) |
| |
| # Build the list of dependencies for Ceres based on the current configuration. |
| |
| # Avoid 'xxx.cc has no symbols' warnings from source files which are 'empty' |
| # when their enclosing #ifdefs are disabled. |
| find_package(Threads REQUIRED) |
| list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES Threads::Threads) |
| # Make dependency visible to the parent CMakeLists.txt |
| set(Threads_DEPENDENCY "find_dependency (Threads)" PARENT_SCOPE) |
| |
| # Source files that contain public symbols and live in the ceres namespaces. |
| # Such symbols are expected to be marked with CERES_EXPORT and the files below |
| # sorted in lexicographical order. |
| set(CERES_EXPORTED_SRCS |
| c_api.cc |
| gradient_checker.cc |
| gradient_problem.cc |
| loss_function.cc |
| manifold.cc |
| normal_prior.cc |
| problem.cc |
| solver.cc |
| types.cc |
| ) |
| |
| # Also depend on the header files so that they appear in IDEs. |
| file(GLOB CERES_INTERNAL_HDRS *.h) |
| if (MINIGLOG) |
| file(GLOB MINIGLOG_HDRS miniglog/glog/*.h) |
| list(APPEND CERES_INTERNAL_HDRS ${MINIGLOG_HDRS}) |
| if (ANDROID) |
| list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES log) |
| endif() |
| endif() |
| |
| # Depend also on public headers so they appear in IDEs. |
| file(GLOB CERES_PUBLIC_HDRS ${Ceres_SOURCE_DIR}/include/ceres/*.h) |
| file(GLOB CERES_PUBLIC_INTERNAL_HDRS ${Ceres_SOURCE_DIR}/include/ceres/internal/*.h) |
| file(GLOB CERES_PUBLIC_INTERNAL_HDRS |
| ${Ceres_BINARY_DIR}/${CMAKE_INSTALL_INCLUDEDIR}/ceres/internal/*.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. The build is much faster this way. |
| file(GLOB CERES_INTERNAL_SCHUR_FILES generated/*_d_d_d.cc) |
| endif (SCHUR_SPECIALIZATIONS) |
| |
| # The generated specializations of the Schur eliminator include |
| # schur_eliminator_impl.h which defines EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD |
| # to a different value than Eigen's default. Depending on the order of files |
| # in the unity build this can lead to clashes. Additionally, these files are |
| # already generated in a way which leads to fairly large compilation units, |
| # so the gains from a unity build would be marginal. Since this property is |
| # not available before cmake 3.16, unity build is only available from this |
| # version on. |
| if (NOT CMAKE_VERSION VERSION_LESS 3.16) |
| set_source_files_properties(${CERES_INTERNAL_SCHUR_FILES} PROPERTIES |
| SKIP_UNITY_BUILD_INCLUSION ON) |
| elseif(CMAKE_UNITY_BUILD) |
| message(FATAL_ERROR "Unity build requires cmake 3.16 or newer. Please unset CMAKE_UNITY_BUILD.") |
| endif() |
| |
| if (NOT MINIGLOG AND GLOG_FOUND) |
| list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GLOG_LIBRARIES}) |
| if (gflags_FOUND) |
| # If glog & gflags are both found, we assume that glog was built with |
| # gflags, as it is awkward to perform a try_compile() to verify this |
| # when gflags is an imported target (as it is in newer versions). |
| # As glog #includes gflags/gflags.h in glog/logging.h if compiled with |
| # gflags, it is thus a public dependency for Ceres in this case. |
| list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES gflags) |
| endif() |
| endif (NOT MINIGLOG AND GLOG_FOUND) |
| |
| if (SUITESPARSE AND SuiteSparse_FOUND) |
| # Define version information for use in Solver::FullReport. |
| add_definitions(-DCERES_SUITESPARSE_VERSION="${SuiteSparse_VERSION}") |
| list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES SuiteSparse::CHOLMOD |
| SuiteSparse::SPQR) |
| |
| if (SuiteSparse_Partition_FOUND) |
| list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES SuiteSparse::Partition) |
| endif (SuiteSparse_Partition_FOUND) |
| endif (SUITESPARSE AND SuiteSparse_FOUND) |
| |
| if (SuiteSparse_Partition_FOUND OR EIGENMETIS) |
| # Define version information for use in Solver::FullReport. |
| add_definitions(-DCERES_METIS_VERSION="${METIS_VERSION}") |
| list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES METIS::METIS) |
| endif (SuiteSparse_Partition_FOUND OR EIGENMETIS) |
| |
| if (ACCELERATESPARSE AND AccelerateSparse_FOUND) |
| list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${AccelerateSparse_LIBRARIES}) |
| endif() |
| |
| if (USE_CUDA) |
| list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES |
| CUDA::cublas |
| CUDA::cudart |
| CUDA::cusolver |
| CUDA::cusparse) |
| if (BUILD_TESTING AND GFLAGS) |
| add_test( |
| NAME cuda_memcheck_dense_qr_test |
| COMMAND ${CUDAToolkit_BIN_DIR}/cuda-memcheck --leak-check full |
| $<TARGET_FILE:cuda_dense_qr_test>) |
| add_test( |
| NAME cuda_memcheck_dense_cholesky_test |
| COMMAND ${CUDAToolkit_BIN_DIR}/cuda-memcheck --leak-check full |
| $<TARGET_FILE:cuda_dense_cholesky_test>) |
| endif (BUILD_TESTING AND GFLAGS) |
| set_source_files_properties(cuda_kernels.cu.cc PROPERTIES LANGUAGE CUDA) |
| add_library(ceres_cuda_kernels cuda_kernels.cu.cc) |
| target_compile_features(ceres_cuda_kernels PRIVATE cxx_std_14) |
| list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ceres_cuda_kernels) |
| endif (USE_CUDA) |
| |
| if (LAPACK_FOUND) |
| list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${LAPACK_LIBRARIES}) |
| endif () |
| |
| # Source files that contain private symbols and live in the ceres::internal |
| # namespace. The corresponding symbols (classes, functions, etc.) are expected |
| # to be marked with CERES_NO_EXPORT and the files below sorted in |
| # lexicographical order. |
| add_library(ceres_internal OBJECT |
| ${CERES_INTERNAL_SCHUR_FILES} |
| 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 |
| 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 |
| cuda_sparse_matrix.cc |
| cuda_vector.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 |
| fake_bundle_adjustment_jacobian.cc |
| file.cc |
| first_order_function.cc |
| float_suitesparse.cc |
| function_sample.cc |
| gradient_checking_cost_function.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 |
| low_rank_inverse_hessian.cc |
| minimizer.cc |
| parallel_for_cxx.cc |
| parallel_utils.cc |
| parameter_block_ordering.cc |
| partitioned_matrix_view.cc |
| polynomial.cc |
| power_series_expansion_preconditioner.cc |
| preconditioner.cc |
| preprocessor.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_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 |
| visibility.cc |
| visibility_based_preconditioner.cc |
| wall_time.cc |
| ) |
| |
| set(CERES_LIBRARY_SOURCE |
| ${CERES_EXPORTED_SRCS} |
| ${CERES_INTERNAL_HDRS} |
| ${CERES_PUBLIC_HDRS} |
| ${CERES_PUBLIC_INTERNAL_HDRS}) |
| |
| # Primarily for Android, but optionally for others, compile the minimal |
| # glog implementation into Ceres. |
| if (MINIGLOG) |
| list(APPEND CERES_LIBRARY_SOURCE miniglog/glog/logging.cc) |
| endif (MINIGLOG) |
| |
| # Ceres C++ compiler flags can be too strict for an external library code |
| # which we do not maintain. |
| include(CheckCXXCompilerFlag) |
| check_cxx_compiler_flag("-Wno-missing-declarations" |
| CHECK_CXX_FLAG_Wno_missing_declarations) |
| if (CHECK_CXX_FLAG_Wno_missing_declarations) |
| set_property(SOURCE gmock_gtest_all.cc |
| APPEND_STRING PROPERTY COMPILE_FLAGS "-Wno-missing-declarations") |
| endif() |
| |
| add_library(ceres $<TARGET_OBJECTS:ceres_internal> ${CERES_LIBRARY_SOURCE}) |
| |
| if(BUILD_SHARED_LIBS) |
| # While building shared libraries, we additionally require a static variant to |
| # be able to access internal symbols which are not intended for general use. |
| # Therefore, create a static library from object files and apply all the |
| # compiler options from the main library to the static one. |
| add_library(ceres_static STATIC $<TARGET_OBJECTS:ceres_internal> ${CERES_LIBRARY_SOURCE}) |
| target_include_directories(ceres_static PUBLIC $<TARGET_PROPERTY:ceres,INCLUDE_DIRECTORIES>) |
| target_compile_definitions(ceres_static PUBLIC $<TARGET_PROPERTY:ceres,COMPILE_DEFINITIONS>) |
| target_compile_features(ceres_static PUBLIC $<TARGET_PROPERTY:ceres,COMPILE_FEATURES>) |
| target_compile_options(ceres_static PUBLIC $<TARGET_PROPERTY:ceres,COMPILE_OPTIONS>) |
| target_link_libraries(ceres_static |
| INTERFACE $<TARGET_PROPERTY:ceres,INTERFACE_LINK_LIBRARIES> |
| PRIVATE ${CERES_LIBRARY_PRIVATE_DEPENDENCIES}) |
| # CERES_STATIC_DEFINE is generated by the GenerateExportHeader CMake module |
| # used to autogerate export.h. The macro should not be renamed without |
| # updating the corresponding generate_export_header invocation. |
| target_compile_definitions(ceres_static PUBLIC CERES_STATIC_DEFINE) |
| else() |
| # In a static library build, not additional access layer is necessary as all |
| # symbols are visible. |
| add_library(ceres_static ALIAS ceres) |
| endif() |
| |
| # Create a local alias target that matches the expected installed target. |
| add_library(Ceres::ceres ALIAS ceres) |
| |
| # Apply all compiler options from the main Ceres target. Compiler options should |
| # be generally defined on the main target referenced by the ceres_target CMake |
| # variable. |
| target_include_directories(ceres_internal PUBLIC $<TARGET_PROPERTY:ceres,INCLUDE_DIRECTORIES>) |
| target_compile_definitions(ceres_internal PUBLIC $<TARGET_PROPERTY:ceres,COMPILE_DEFINITIONS>) |
| target_compile_options(ceres_internal PUBLIC $<TARGET_PROPERTY:ceres,COMPILE_OPTIONS>) |
| target_compile_definitions(ceres_internal PRIVATE ceres_EXPORTS) |
| target_compile_features(ceres_internal PRIVATE $<TARGET_PROPERTY:ceres,COMPILE_FEATURES>) |
| |
| # Ensure the minimum required C++ language version is fulfilled as our |
| # requirement by downstream clients. Consumers can choose the same or a newer |
| # language standard revision. |
| target_compile_features(ceres PUBLIC cxx_std_17) |
| |
| set_target_properties(ceres PROPERTIES |
| VERSION ${CERES_VERSION} |
| SOVERSION 4) |
| |
| target_link_libraries(ceres |
| PUBLIC ${CERES_LIBRARY_PUBLIC_DEPENDENCIES} |
| PRIVATE ${CERES_LIBRARY_PRIVATE_DEPENDENCIES}) |
| |
| # Add the Ceres headers to its target. |
| # |
| # Force the location containing the configured config.h to the front of the |
| # include_directories list (by default it is appended to the back) to ensure |
| # that if the user has an installed version of Ceres in the same location as one |
| # of the dependencies (e.g. /usr/local) that we find the config.h we just |
| # configured, not the (older) installed config.h. |
| target_include_directories(ceres |
| BEFORE PUBLIC |
| $<BUILD_INTERFACE:${Ceres_BINARY_DIR}/${CMAKE_INSTALL_INCLUDEDIR}> |
| PRIVATE ${Ceres_SOURCE_DIR}/internal |
| PUBLIC $<BUILD_INTERFACE:${Ceres_SOURCE_DIR}/include> |
| $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>) |
| |
| # Eigen SparseQR generates various compiler warnings related to unused and |
| # uninitialised local variables. To avoid having to individually suppress these |
| # warnings around the #include statements for Eigen headers across all GCC/Clang |
| # versions, we tell CMake to treat Eigen headers as system headers. This |
| # results in all compiler warnings from them being suppressed. |
| target_link_libraries(ceres PUBLIC Eigen3::Eigen) |
| |
| # Gather the list of public & private include locations for all enabled optional |
| # dependencies to be added to the Ceres target. |
| set(CERES_LIBRARY_PRIVATE_DEPENDENCIES_INCLUDE_DIRS "") |
| set(CERES_LIBRARY_PUBLIC_DEPENDENCIES_INCLUDE_DIRS "") |
| if (MINIGLOG) |
| # Force the miniglog headers to the front of the public include directories |
| # to protect against the case when the user has glog installed in a standard |
| # location (specifically the same as the Ceres install location) but compiled |
| # Ceres with MINIGLOG anyway. Otherwise: "glog/logging.h" in the public Ceres |
| # headers used in client code would match the installed version of glog, not |
| # the miniglog headers, and the client application would fail to link. |
| # |
| # Note that this is an imperfect fix, as we cannot control the include |
| # directories in client projects, and they could easily invert this ordering |
| # themselves (intentionally or otherwise) and so break their build. |
| target_include_directories(ceres BEFORE PUBLIC |
| $<BUILD_INTERFACE:${Ceres_SOURCE_DIR}/internal/ceres/miniglog> |
| $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/ceres/internal/miniglog>) |
| elseif (NOT FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION) |
| # Only append glog include directories if the glog found was not a CMake |
| # exported target that already includes them. |
| list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES_INCLUDE_DIRS |
| ${GLOG_INCLUDE_DIRS}) |
| endif() |
| if (ACCELERATESPARSE) |
| list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES_INCLUDE_DIRS |
| ${AccelerateSparse_INCLUDE_DIRS}) |
| endif() |
| # Add include locations for optional dependencies to the Ceres target without |
| # duplication. |
| list(REMOVE_DUPLICATES CERES_LIBRARY_PRIVATE_DEPENDENCIES_INCLUDE_DIRS) |
| target_include_directories(ceres PRIVATE ${CERES_LIBRARY_PRIVATE_DEPENDENCIES_INCLUDE_DIRS}) |
| list(REMOVE_DUPLICATES CERES_LIBRARY_PUBLIC_DEPENDENCIES_INCLUDE_DIRS) |
| target_include_directories(ceres PUBLIC ${CERES_LIBRARY_PUBLIC_DEPENDENCIES_INCLUDE_DIRS}) |
| |
| # Generate an export header for annotating symbols visibility |
| include(GenerateExportHeader) |
| generate_export_header(ceres EXPORT_FILE_NAME |
| ${Ceres_BINARY_DIR}/${CMAKE_INSTALL_INCLUDEDIR}/ceres/internal/export.h) |
| |
| if (USE_CUDA) |
| install(TARGETS ceres_cuda_kernels |
| EXPORT CeresExport |
| RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR} |
| LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} |
| ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}) |
| endif(USE_CUDA) |
| |
| install(TARGETS ceres |
| EXPORT CeresExport |
| RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR} |
| LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} |
| ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}) |
| |
| if (BUILD_TESTING AND GFLAGS) |
| add_library(gtest STATIC gmock_gtest_all.cc gmock_main.cc) |
| |
| target_include_directories(gtest PRIVATE ${Ceres_SOURCE_DIR}/internal/ceres) |
| if (CMAKE_SYSTEM_NAME MATCHES "QNX") |
| target_link_libraries(gtest PUBLIC regex) |
| endif() |
| target_link_libraries(gtest PRIVATE Ceres::ceres gflags) |
| |
| add_library(test_util STATIC |
| evaluator_test_utils.cc |
| numeric_diff_test_utils.cc |
| test_util.cc) |
| |
| target_include_directories(test_util PUBLIC ${Ceres_SOURCE_DIR}/internal) |
| target_link_libraries (test_util PUBLIC ceres_static gflags gtest) |
| |
| macro (CERES_TEST NAME) |
| add_executable(${NAME}_test ${NAME}_test.cc) |
| # Pull in local headers from the generated test directories when ceres_test() |
| # is invoked there, as well as the private headers in this directory which |
| # may be referenced without the 'ceres' path prefix and all private |
| # dependencies that may be directly referenced. |
| target_include_directories(${NAME}_test |
| PRIVATE ${Ceres_SOURCE_DIR}/internal/ceres |
| ${CERES_LIBRARY_PRIVATE_DEPENDENCIES_INCLUDE_DIRS}) |
| # Some tests include direct references/includes of private dependency |
| # headers which are not propagated via the ceres targets, so link them |
| # explicitly. |
| target_link_libraries(${NAME}_test PRIVATE gtest test_util ceres_static |
| ${CERES_LIBRARY_PRIVATE_DEPENDENCIES}) |
| |
| # covariance_test uses SuiteSparseQR.hpp. However, since SuiteSparse import |
| # targets are private (link only) dependencies not propagated to consumers, |
| # we need to link against the target explicitly here. |
| if (TARGET SuiteSparse::SPQR) |
| target_link_libraries (${NAME}_test PRIVATE SuiteSparse::SPQR) |
| endif (TARGET SuiteSparse::SPQR) |
| |
| add_test(NAME ${NAME}_test |
| COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${NAME}_test |
| --test_srcdir |
| ${Ceres_SOURCE_DIR}/data) |
| endmacro (CERES_TEST) |
| |
| ceres_test(array_utils) |
| ceres_test(array_selector) |
| ceres_test(autodiff) |
| ceres_test(autodiff_first_order_function) |
| ceres_test(autodiff_cost_function) |
| ceres_test(autodiff_manifold) |
| ceres_test(block_jacobi_preconditioner) |
| ceres_test(block_random_access_dense_matrix) |
| ceres_test(block_random_access_diagonal_matrix) |
| ceres_test(block_random_access_sparse_matrix) |
| ceres_test(block_sparse_matrix) |
| ceres_test(c_api) |
| ceres_test(canonical_views_clustering) |
| ceres_test(compressed_col_sparse_matrix_utils) |
| ceres_test(compressed_row_sparse_matrix) |
| ceres_test(concurrent_queue) |
| ceres_test(conditioned_cost_function) |
| ceres_test(conjugate_gradients_solver) |
| ceres_test(corrector) |
| ceres_test(cost_function_to_functor) |
| ceres_test(covariance) |
| ceres_test(cubic_interpolation) |
| ceres_test(cuda_dense_cholesky) |
| ceres_test(cuda_dense_qr) |
| ceres_test(cuda_kernels) |
| ceres_test(cuda_sparse_matrix) |
| ceres_test(cuda_vector) |
| ceres_test(dense_linear_solver) |
| ceres_test(dense_cholesky) |
| ceres_test(dense_qr) |
| ceres_test(dense_sparse_matrix) |
| ceres_test(detect_structure) |
| ceres_test(dogleg_strategy) |
| ceres_test(dynamic_autodiff_cost_function) |
| ceres_test(dynamic_compressed_row_sparse_matrix) |
| ceres_test(dynamic_numeric_diff_cost_function) |
| ceres_test(dynamic_sparse_normal_cholesky_solver) |
| ceres_test(dynamic_sparsity) |
| ceres_test(evaluation_callback) |
| ceres_test(evaluator) |
| ceres_test(fixed_array) |
| ceres_test(gradient_checker) |
| ceres_test(gradient_checking_cost_function) |
| ceres_test(gradient_problem) |
| ceres_test(gradient_problem_solver) |
| ceres_test(graph) |
| ceres_test(graph_algorithms) |
| ceres_test(householder_vector) |
| ceres_test(implicit_schur_complement) |
| ceres_test(inner_product_computer) |
| ceres_test(invert_psd_matrix) |
| ceres_test(integer_sequence_algorithm) |
| ceres_test(is_close) |
| ceres_test(iterative_refiner) |
| ceres_test(iterative_schur_complement_solver) |
| ceres_test(jet) |
| ceres_test(jet_traits) |
| ceres_test(levenberg_marquardt_strategy) |
| ceres_test(line_search_minimizer) |
| ceres_test(line_search_preprocessor) |
| ceres_test(loss_function) |
| ceres_test(manifold) |
| ceres_test(minimizer) |
| ceres_test(normal_prior) |
| ceres_test(numeric_diff_cost_function) |
| ceres_test(numeric_diff_first_order_function) |
| ceres_test(ordered_groups) |
| ceres_test(parallel_for) |
| ceres_test(parallel_utils) |
| ceres_test(parameter_block) |
| ceres_test(parameter_block_ordering) |
| ceres_test(parameter_dims) |
| ceres_test(partitioned_matrix_view) |
| ceres_test(polynomial) |
| ceres_test(power_series_expansion_preconditioner) |
| ceres_test(problem) |
| ceres_test(program) |
| ceres_test(reorder_program) |
| ceres_test(residual_block) |
| ceres_test(residual_block_utils) |
| ceres_test(rotation) |
| ceres_test(schur_complement_solver) |
| ceres_test(schur_eliminator) |
| ceres_test(single_linkage_clustering) |
| ceres_test(small_blas) |
| ceres_test(solver) |
| ceres_test(sparse_cholesky) |
| ceres_test(sparse_normal_cholesky_solver) |
| ceres_test(subset_preconditioner) |
| ceres_test(system) |
| ceres_test(tiny_solver) |
| ceres_test(tiny_solver_autodiff_function) |
| ceres_test(tiny_solver_cost_function_adapter) |
| ceres_test(thread_pool) |
| ceres_test(triplet_sparse_matrix) |
| ceres_test(trust_region_minimizer) |
| ceres_test(trust_region_preprocessor) |
| ceres_test(visibility) |
| ceres_test(visibility_based_preconditioner) |
| |
| add_subdirectory(generated_bundle_adjustment_tests) |
| |
| endif (BUILD_TESTING AND GFLAGS) |
| |
| macro(add_dependencies_to_benchmark BENCHMARK_TARGET) |
| target_include_directories(${BENCHMARK_TARGET} |
| PRIVATE ${Ceres_SOURCE_DIR}/internal |
| ${CERES_LIBRARY_PRIVATE_DEPENDENCIES_INCLUDE_DIRS}) |
| # Benchmarks include direct references/includes of private dependency headers |
| # which are not propagated via the ceres targets, so link them explicitly. |
| target_link_libraries(${BENCHMARK_TARGET} |
| PRIVATE benchmark::benchmark ceres_static |
| ${CERES_LIBRARY_PRIVATE_DEPENDENCIES}) |
| endmacro() |
| |
| if (BUILD_BENCHMARKS) |
| add_executable(evaluation_benchmark evaluation_benchmark.cc) |
| add_dependencies_to_benchmark(evaluation_benchmark) |
| |
| add_executable(small_blas_gemv_benchmark small_blas_gemv_benchmark.cc) |
| add_dependencies_to_benchmark(small_blas_gemv_benchmark) |
| |
| add_executable(small_blas_gemm_benchmark small_blas_gemm_benchmark.cc) |
| add_dependencies_to_benchmark(small_blas_gemm_benchmark) |
| |
| add_executable(invert_psd_matrix_benchmark invert_psd_matrix_benchmark.cc) |
| add_dependencies_to_benchmark(invert_psd_matrix_benchmark) |
| |
| add_executable(schur_eliminator_benchmark schur_eliminator_benchmark.cc) |
| add_dependencies_to_benchmark(schur_eliminator_benchmark) |
| |
| add_executable(jet_operator_benchmark jet_operator_benchmark.cc) |
| add_dependencies_to_benchmark(jet_operator_benchmark) |
| |
| add_executable(dense_linear_solver_benchmark dense_linear_solver_benchmark.cc) |
| add_dependencies_to_benchmark(dense_linear_solver_benchmark) |
| |
| add_executable(spmv_benchmark spmv_benchmark.cc) |
| add_dependencies_to_benchmark(spmv_benchmark) |
| |
| add_executable(parallel_vector_operations_benchmark parallel_vector_operations_benchmark.cc) |
| add_dependencies_to_benchmark(parallel_vector_operations_benchmark) |
| |
| add_executable(block_jacobi_preconditioner_benchmark |
| block_jacobi_preconditioner_benchmark.cc) |
| add_dependencies_to_benchmark(block_jacobi_preconditioner_benchmark) |
| |
| add_subdirectory(autodiff_benchmarks) |
| endif (BUILD_BENCHMARKS) |
