blob: 2e5759e794b47c73dd56110e7377465e36d75657 [file] [log] [blame]
# 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",
],
)