mirror of
https://github.com/ceres-solver/ceres-solver.git
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Create ceres_library() and use to provide :ceres
This doesn't add any configurability to ceres_library() yet, but it does correctly determine the include path for use with -I, allowing this to be used as a dependency from other workspaces. Change-Id: I223b6e63c2ea82ab7f552337f78fffd54f20b0e0
This commit is contained in:
Rodrigo Queiro
@@ -31,197 +31,9 @@
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# These are Bazel rules to build Ceres. It's currently in Alpha state, and does
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# These are Bazel rules to build Ceres. It's currently in Alpha state, and does
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# not support parameterization around threading choice or sparse backends.
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# not support parameterization around threading choice or sparse backends.
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CERES_SRCS = ["internal/ceres/" + filename for filename in [
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load("//:bazel/ceres.bzl", "ceres_library")
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"array_utils.cc",
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"blas.cc",
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"block_evaluate_preparer.cc",
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"block_jacobian_writer.cc",
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"block_jacobi_preconditioner.cc",
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"block_random_access_dense_matrix.cc",
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"block_random_access_diagonal_matrix.cc",
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"block_random_access_matrix.cc",
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"block_random_access_sparse_matrix.cc",
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"block_sparse_matrix.cc",
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"block_structure.cc",
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"c_api.cc",
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"callbacks.cc",
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"canonical_views_clustering.cc",
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"cgnr_solver.cc",
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"compressed_col_sparse_matrix_utils.cc",
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"compressed_row_jacobian_writer.cc",
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"compressed_row_sparse_matrix.cc",
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"conditioned_cost_function.cc",
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"conjugate_gradients_solver.cc",
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"coordinate_descent_minimizer.cc",
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"corrector.cc",
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"covariance.cc",
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"covariance_impl.cc",
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"dense_normal_cholesky_solver.cc",
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"dense_qr_solver.cc",
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"dense_sparse_matrix.cc",
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"detect_structure.cc",
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"dogleg_strategy.cc",
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"dynamic_compressed_row_jacobian_writer.cc",
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"dynamic_compressed_row_sparse_matrix.cc",
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"dynamic_sparse_normal_cholesky_solver.cc",
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"eigensparse.cc",
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"evaluator.cc",
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"file.cc",
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"function_sample.cc",
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"gradient_checker.cc",
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"gradient_checking_cost_function.cc",
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"gradient_problem.cc",
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"gradient_problem_solver.cc",
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"is_close.cc",
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"implicit_schur_complement.cc",
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"inner_product_computer.cc",
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"iterative_schur_complement_solver.cc",
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"lapack.cc",
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"levenberg_marquardt_strategy.cc",
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"line_search.cc",
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"line_search_direction.cc",
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"line_search_minimizer.cc",
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"linear_least_squares_problems.cc",
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"linear_operator.cc",
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"line_search_preprocessor.cc",
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"linear_solver.cc",
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"local_parameterization.cc",
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"loss_function.cc",
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"low_rank_inverse_hessian.cc",
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"minimizer.cc",
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"normal_prior.cc",
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"parameter_block_ordering.cc",
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"partitioned_matrix_view.cc",
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"polynomial.cc",
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"preconditioner.cc",
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"preprocessor.cc",
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"problem.cc",
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"problem_impl.cc",
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"program.cc",
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"reorder_program.cc",
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"residual_block.cc",
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"residual_block_utils.cc",
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"schur_complement_solver.cc",
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"schur_eliminator.cc",
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"schur_jacobi_preconditioner.cc",
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"schur_templates.cc",
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"scratch_evaluate_preparer.cc",
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"single_linkage_clustering.cc",
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"solver.cc",
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"solver_utils.cc",
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"sparse_cholesky.cc",
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"sparse_matrix.cc",
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"sparse_normal_cholesky_solver.cc",
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"split.cc",
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"stringprintf.cc",
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"suitesparse.cc",
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"thread_token_provider.cc",
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"triplet_sparse_matrix.cc",
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"trust_region_minimizer.cc",
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"trust_region_preprocessor.cc",
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"trust_region_step_evaluator.cc",
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"trust_region_strategy.cc",
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"types.cc",
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"visibility_based_preconditioner.cc",
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"visibility.cc",
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"wall_time.cc",
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"generated/schur_eliminator_d_d_d.cc",
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"generated/schur_eliminator_2_2_2.cc",
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"generated/schur_eliminator_2_2_3.cc",
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"generated/schur_eliminator_2_2_4.cc",
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"generated/schur_eliminator_2_2_d.cc",
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"generated/schur_eliminator_2_3_3.cc",
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"generated/schur_eliminator_2_3_4.cc",
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"generated/schur_eliminator_2_3_6.cc",
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"generated/schur_eliminator_2_3_9.cc",
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"generated/schur_eliminator_2_3_d.cc",
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"generated/schur_eliminator_2_4_3.cc",
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"generated/schur_eliminator_2_4_4.cc",
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"generated/schur_eliminator_2_4_6.cc",
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"generated/schur_eliminator_2_4_8.cc",
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"generated/schur_eliminator_2_4_9.cc",
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"generated/schur_eliminator_2_4_d.cc",
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"generated/schur_eliminator_2_d_d.cc",
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"generated/schur_eliminator_4_4_2.cc",
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"generated/schur_eliminator_4_4_3.cc",
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"generated/schur_eliminator_4_4_4.cc",
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"generated/schur_eliminator_4_4_d.cc",
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"generated/partitioned_matrix_view_d_d_d.cc",
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"generated/partitioned_matrix_view_2_2_2.cc",
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"generated/partitioned_matrix_view_2_2_3.cc",
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"generated/partitioned_matrix_view_2_2_4.cc",
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"generated/partitioned_matrix_view_2_2_d.cc",
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"generated/partitioned_matrix_view_2_3_3.cc",
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"generated/partitioned_matrix_view_2_3_4.cc",
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"generated/partitioned_matrix_view_2_3_6.cc",
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"generated/partitioned_matrix_view_2_3_9.cc",
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"generated/partitioned_matrix_view_2_3_d.cc",
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"generated/partitioned_matrix_view_2_4_3.cc",
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"generated/partitioned_matrix_view_2_4_4.cc",
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"generated/partitioned_matrix_view_2_4_6.cc",
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"generated/partitioned_matrix_view_2_4_8.cc",
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"generated/partitioned_matrix_view_2_4_9.cc",
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"generated/partitioned_matrix_view_2_4_d.cc",
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"generated/partitioned_matrix_view_2_d_d.cc",
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"generated/partitioned_matrix_view_4_4_2.cc",
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"generated/partitioned_matrix_view_4_4_3.cc",
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"generated/partitioned_matrix_view_4_4_4.cc",
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"generated/partitioned_matrix_view_4_4_d.cc",
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]]
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# TODO(keir): This should get converted into a Skylark function that can
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ceres_library(name = "ceres")
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# configure Ceres into various permutations, like SuiteSparse or not, threading
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# or not, glog or not, and so on.
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# See https://github.com/ceres-solver/ceres-solver/issues/335.
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cc_library(
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name = "ceres",
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# Internal sources, options, and dependencies.
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srcs = CERES_SRCS + glob([
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"include/ceres/internal/*.h",
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]) + glob([
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"internal/ceres/*.h",
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]),
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# These headers are made available to other targets.
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hdrs =
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glob(["include/ceres/*.h"]) + glob([
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"include/ceres/internal/*.h",
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]) +
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# This is an empty config, since the Bazel-based build does not
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# generate a config.h from config.h.in. This is fine, since Bazel
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# properly handles propagating -D defines to dependent targets.
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glob([
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"config/ceres/internal/config.h",
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]),
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copts = [
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"-Iinternal",
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"-Wno-sign-compare",
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],
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# These include directories and defines are propagated to other targets
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# depending on Ceres.
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# TODO(keir): These defines are placeholders for now to facilitate getting
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# started with a Bazel build. However, these should become configurable as
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# part of a Skylark Ceres target macro.
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defines = [
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"CERES_NO_SUITESPARSE",
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"CERES_NO_CXSPARSE",
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"CERES_NO_THREADS",
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"CERES_NO_LAPACK",
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"CERES_STD_UNORDERED_MAP",
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],
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includes = [
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"config",
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"include",
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],
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visibility = ["//visibility:public"],
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deps = [
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"@com_github_eigen_eigen//:eigen",
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"@com_github_google_glog//:glog",
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],
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)
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cc_library(
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cc_library(
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name = "test_util",
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name = "test_util",
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+228
@@ -0,0 +1,228 @@
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# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2018 Google Inc. All rights reserved.
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# http://ceres-solver.org/
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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# * Neither the name of Google Inc. nor the names of its contributors may be
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# used to endorse or promote products derived from this software without
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# specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Support for building Ceres Solver with a specific configuration.
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CERES_SRCS = ["internal/ceres/" + filename for filename in [
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"array_utils.cc",
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"blas.cc",
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"block_evaluate_preparer.cc",
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"block_jacobian_writer.cc",
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"block_jacobi_preconditioner.cc",
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"block_random_access_dense_matrix.cc",
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"block_random_access_diagonal_matrix.cc",
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"block_random_access_matrix.cc",
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"block_random_access_sparse_matrix.cc",
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"block_sparse_matrix.cc",
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"block_structure.cc",
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"c_api.cc",
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|
"callbacks.cc",
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|
"canonical_views_clustering.cc",
|
||||||
|
"cgnr_solver.cc",
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||||||
|
"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",
|
||||||
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"generated/schur_eliminator_2_2_4.cc",
|
||||||
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"generated/schur_eliminator_2_2_d.cc",
|
||||||
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"generated/schur_eliminator_2_3_3.cc",
|
||||||
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"generated/schur_eliminator_2_3_4.cc",
|
||||||
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"generated/schur_eliminator_2_3_6.cc",
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||||||
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"generated/schur_eliminator_2_3_9.cc",
|
||||||
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"generated/schur_eliminator_2_3_d.cc",
|
||||||
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"generated/schur_eliminator_2_4_3.cc",
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"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(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):
|
||||||
|
# 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'
|
||||||
|
|
||||||
|
native.cc_library(
|
||||||
|
name = name,
|
||||||
|
|
||||||
|
# Internal sources, options, and dependencies.
|
||||||
|
srcs = CERES_SRCS + 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, 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.
|
||||||
|
native.glob([
|
||||||
|
"config/ceres/internal/config.h",
|
||||||
|
]),
|
||||||
|
copts = [
|
||||||
|
"-I" + internal,
|
||||||
|
"-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",
|
||||||
|
],
|
||||||
|
)
|
||||||
Reference in New Issue
Block a user