mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
bf47e1a368
1. Fix the path to eigen, now that it uses gitlab instead of bitbucket. 2. Remove an unrecognized compiler option. 3. Remove an obsolete benchmark. This CL only unbreaks the build, it is likely that it is still not at par with the cmake build. https://github.com/ceres-solver/ceres-solver/issues/628 Change-Id: I470209cbb48b6a4f499564a86b52436e0c8d98ef
211 lines
7.5 KiB
Python
211 lines
7.5 KiB
Python
# 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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"accelerate_sparse.cc",
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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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"context.cc",
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"context_impl.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_refiner.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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"parallel_for_cxx.cc",
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"parallel_for_openmp.cc",
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"parallel_utils.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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"subset_preconditioner.cc",
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"suitesparse.cc",
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"thread_pool.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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]]
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# TODO(rodrigoq): add support to configure Ceres into various permutations,
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# like SuiteSparse or not, threading 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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def ceres_library(name,
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restrict_schur_specializations=False):
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# The path to internal/ depends on whether Ceres is the main workspace or
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# an external repository.
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if native.repository_name() != '@':
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internal = 'external/%s/internal' % native.repository_name().lstrip('@')
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else:
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internal = 'internal'
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# The fixed-size Schur eliminator template instantiations incur a large
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# binary size penalty, and are slow to compile, so support disabling them.
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schur_eliminator_copts = []
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if restrict_schur_specializations:
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schur_eliminator_copts.append("-DCERES_RESTRICT_SCHUR_SPECIALIZATION")
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schur_sources = [
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"internal/ceres/generated/schur_eliminator_d_d_d.cc",
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"internal/ceres/generated/partitioned_matrix_view_d_d_d.cc",
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]
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else:
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schur_sources = native.glob(["internal/ceres/generated/*.cc"])
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native.cc_library(
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name = name,
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# Internal sources, options, and dependencies.
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srcs = CERES_SRCS + schur_sources + native.glob([
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"include/ceres/internal/*.h",
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]) + native.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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native.glob(["include/ceres/*.h"]) + native.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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native.glob([
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"config/ceres/internal/config.h",
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]),
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copts = [
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"-I" + internal,
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"-Wno-sign-compare",
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] + schur_eliminator_copts,
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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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# https://github.com/ceres-solver/ceres-solver/issues/396
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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_ACCELERATE_SPARSE",
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"CERES_NO_LAPACK",
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"CERES_USE_EIGEN_SPARSE",
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"CERES_USE_CXX_THREADS",
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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_gitlab_libeigen_eigen//:eigen",
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"@com_github_google_glog//:glog",
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],
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)
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