| # 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) |
| # |
| # These are Bazel rules to build Ceres. It's currently in Alpha state, and does |
| # not support parameterization around threading choice or sparse backends. |
| |
| CERES_SRCS = ["internal/ceres/" + filename for filename in [ |
| "array_utils.cc", |
| "blas.cc", |
| "block_evaluate_preparer.cc", |
| "block_jacobian_writer.cc", |
| "block_jacobi_preconditioner.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", |
| "conjugate_gradients_solver.cc", |
| "coordinate_descent_minimizer.cc", |
| "corrector.cc", |
| "covariance.cc", |
| "covariance_impl.cc", |
| "dense_normal_cholesky_solver.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", |
| "evaluator.cc", |
| "file.cc", |
| "function_sample.cc", |
| "gradient_checker.cc", |
| "gradient_checking_cost_function.cc", |
| "gradient_problem.cc", |
| "gradient_problem_solver.cc", |
| "is_close.cc", |
| "implicit_schur_complement.cc", |
| "inner_product_computer.cc", |
| "iterative_schur_complement_solver.cc", |
| "lapack.cc", |
| "levenberg_marquardt_strategy.cc", |
| "line_search.cc", |
| "line_search_direction.cc", |
| "line_search_minimizer.cc", |
| "linear_least_squares_problems.cc", |
| "linear_operator.cc", |
| "line_search_preprocessor.cc", |
| "linear_solver.cc", |
| "local_parameterization.cc", |
| "loss_function.cc", |
| "low_rank_inverse_hessian.cc", |
| "minimizer.cc", |
| "normal_prior.cc", |
| "parameter_block_ordering.cc", |
| "partitioned_matrix_view.cc", |
| "polynomial.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", |
| "split.cc", |
| "stringprintf.cc", |
| "suitesparse.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", |
| "generated/schur_eliminator_d_d_d.cc", |
| "generated/schur_eliminator_2_2_2.cc", |
| "generated/schur_eliminator_2_2_3.cc", |
| "generated/schur_eliminator_2_2_4.cc", |
| "generated/schur_eliminator_2_2_d.cc", |
| "generated/schur_eliminator_2_3_3.cc", |
| "generated/schur_eliminator_2_3_4.cc", |
| "generated/schur_eliminator_2_3_6.cc", |
| "generated/schur_eliminator_2_3_9.cc", |
| "generated/schur_eliminator_2_3_d.cc", |
| "generated/schur_eliminator_2_4_3.cc", |
| "generated/schur_eliminator_2_4_4.cc", |
| "generated/schur_eliminator_2_4_6.cc", |
| "generated/schur_eliminator_2_4_8.cc", |
| "generated/schur_eliminator_2_4_9.cc", |
| "generated/schur_eliminator_2_4_d.cc", |
| "generated/schur_eliminator_2_d_d.cc", |
| "generated/schur_eliminator_4_4_2.cc", |
| "generated/schur_eliminator_4_4_3.cc", |
| "generated/schur_eliminator_4_4_4.cc", |
| "generated/schur_eliminator_4_4_d.cc", |
| "generated/partitioned_matrix_view_d_d_d.cc", |
| "generated/partitioned_matrix_view_2_2_2.cc", |
| "generated/partitioned_matrix_view_2_2_3.cc", |
| "generated/partitioned_matrix_view_2_2_4.cc", |
| "generated/partitioned_matrix_view_2_2_d.cc", |
| "generated/partitioned_matrix_view_2_3_3.cc", |
| "generated/partitioned_matrix_view_2_3_4.cc", |
| "generated/partitioned_matrix_view_2_3_6.cc", |
| "generated/partitioned_matrix_view_2_3_9.cc", |
| "generated/partitioned_matrix_view_2_3_d.cc", |
| "generated/partitioned_matrix_view_2_4_3.cc", |
| "generated/partitioned_matrix_view_2_4_4.cc", |
| "generated/partitioned_matrix_view_2_4_6.cc", |
| "generated/partitioned_matrix_view_2_4_8.cc", |
| "generated/partitioned_matrix_view_2_4_9.cc", |
| "generated/partitioned_matrix_view_2_4_d.cc", |
| "generated/partitioned_matrix_view_2_d_d.cc", |
| "generated/partitioned_matrix_view_4_4_2.cc", |
| "generated/partitioned_matrix_view_4_4_3.cc", |
| "generated/partitioned_matrix_view_4_4_4.cc", |
| "generated/partitioned_matrix_view_4_4_d.cc", |
| ]] |
| |
| # TODO(keir): This should get converted into a Skylark function that can |
| # 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. |
| cc_library( |
| name = "ceres", |
| |
| # Internal sources, options, and dependencies. |
| srcs = CERES_SRCS + glob([ |
| "include/ceres/internal/*.h", |
| ]) + glob([ |
| "internal/ceres/*.h", |
| ]), |
| |
| # These headers are made available to other targets. |
| hdrs = |
| glob(["include/ceres/*.h"]) + glob([ |
| "include/ceres/internal/*.h", |
| ]) + |
| |
| # This is an empty config, since the Bazel-based build does not |
| # generate a config.h from config.h.in. This is fine, since Bazel |
| # properly handles propagating -D defines to dependent targets. |
| glob([ |
| "config/ceres/internal/config.h", |
| ]), |
| copts = [ |
| "-Iinternal", |
| "-Wno-sign-compare", |
| ], |
| |
| # 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. |
| defines = [ |
| "CERES_NO_SUITESPARSE", |
| "CERES_NO_CXSPARSE", |
| "CERES_NO_THREADS", |
| "CERES_NO_LAPACK", |
| "CERES_STD_UNORDERED_MAP", |
| ], |
| includes = [ |
| "config", |
| "include", |
| ], |
| visibility = ["//visibility:public"], |
| deps = [ |
| "@com_github_eigen_eigen//:eigen", |
| "@com_github_google_glog//:glog", |
| ], |
| ) |
| |
| cc_library( |
| name = "test_util", |
| srcs = ["internal/ceres/" + x for x in [ |
| "evaluator_test_utils.cc", |
| "numeric_diff_test_utils.cc", |
| "test_util.cc", |
| "gmock_gtest_all.cc", |
| "gmock_main.cc", |
| ]], |
| hdrs = [ |
| "internal/ceres/gmock/gmock.h", |
| "internal/ceres/gmock/mock-log.h", |
| "internal/ceres/gtest/gtest.h", |
| ], |
| copts = [ |
| "-Wno-sign-compare", |
| "-DCERES_TEST_SRCDIR_SUFFIX=\\\"data/\\\"", |
| ], |
| defines = [ |
| "CERES_GFLAGS_NAMESPACE=gflags", |
| ], |
| includes = [ |
| "internal", |
| "internal/ceres", |
| ], |
| deps = [ |
| "//:ceres", |
| "@com_github_gflags_gflags//:gflags", |
| ], |
| ) |
| |
| CERES_TESTS = [ |
| "array_utils", |
| "autodiff_cost_function", |
| "autodiff_local_parameterization", |
| "autodiff", |
| "block_jacobi_preconditioner", |
| "block_random_access_dense_matrix", |
| "block_random_access_diagonal_matrix", |
| "block_random_access_sparse_matrix", |
| "block_sparse_matrix", |
| "bundle_adjustment", |
| "canonical_views_clustering", |
| "c_api", |
| "compressed_col_sparse_matrix_utils", |
| "compressed_row_sparse_matrix", |
| "conditioned_cost_function", |
| "conjugate_gradients_solver", |
| "corrector", |
| "cost_function_to_functor", |
| "covariance", |
| "cubic_interpolation", |
| "dense_linear_solver", |
| "dense_sparse_matrix", |
| "detect_structure", |
| "dogleg_strategy", |
| "dynamic_autodiff_cost_function", |
| "dynamic_compressed_row_sparse_matrix", |
| "dynamic_numeric_diff_cost_function", |
| "dynamic_sparse_normal_cholesky_solver", |
| "dynamic_sparsity", |
| "evaluator", |
| "gradient_checker", |
| "gradient_checking_cost_function", |
| "gradient_problem_solver", |
| "gradient_problem", |
| "graph_algorithms", |
| "graph", |
| "householder_vector", |
| "implicit_schur_complement", |
| "inner_product_computer", |
| "invert_psd_matrix", |
| "is_close", |
| "iterative_schur_complement_solver", |
| "jet", |
| "levenberg_marquardt_strategy", |
| "line_search_minimizer", |
| "line_search_preprocessor", |
| "local_parameterization", |
| "loss_function", |
| "minimizer", |
| "normal_prior", |
| "numeric_diff_cost_function", |
| "ordered_groups", |
| "parameter_block_ordering", |
| "parameter_block", |
| "partitioned_matrix_view", |
| "polynomial", |
| "problem", |
| "program", |
| "reorder_program", |
| "residual_block", |
| "residual_block_utils", |
| "rotation", |
| "schur_complement_solver", |
| "schur_eliminator", |
| "single_linkage_clustering", |
| "small_blas", |
| "solver", |
| "sparse_cholesky", |
| "sparse_normal_cholesky_solver", |
| "system", |
| "tiny_solver_autodiff_function", |
| "tiny_solver_cost_function_adapter", |
| "tiny_solver", |
| "triplet_sparse_matrix", |
| "trust_region_minimizer", |
| "trust_region_preprocessor", |
| "visibility_based_preconditioner", |
| "visibility", |
| ] |
| |
| # Instantiate all the tests with a template. |
| # TODO(keir): Use a Skylark macro to support tests having unique settings, like |
| # big or small without duplicating the common components (deps, etc). |
| # See https://github.com/ceres-solver/ceres-solver/issues/336. |
| [cc_test( |
| name = test_name + "_test", |
| timeout = "long", |
| srcs = ["internal/ceres/" + test_name + "_test.cc"], |
| copts = [ |
| "-Wno-sign-compare", |
| |
| # These two warnings don't work well in conjunction with GMock, and |
| # trigger incorrectly on parts of rotation_test. For now, disable them, |
| # but in the future disable these warnings only for rotation_test. |
| # TODO(keir): When the tests are macro-ified, apply these selectively. |
| "-Wno-nonnull-compare", |
| "-Wno-address", |
| ], |
| |
| # Needed for bundle_adjustment_test. |
| data = [":data/problem-16-22106-pre.txt"], |
| deps = [ |
| "//:ceres", |
| "//:test_util", |
| "@com_github_eigen_eigen//:eigen", |
| "@com_github_gflags_gflags//:gflags", |
| ], |
| ) for test_name in CERES_TESTS] |
