mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
a2e4dc7429
Fixed so that suitesparse_test is not compiled if SuiteSparse support is not enabled. Change-Id: If6430c3eb42548742d667d876492fff5687fd87d
218 lines
7.0 KiB
CMake
218 lines
7.0 KiB
CMake
# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
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# http://code.google.com/p/ceres-solver/
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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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# Author: keir@google.com (Keir Mierle)
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SET(CERES_INTERNAL_SRC
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array_utils.cc
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block_evaluate_preparer.cc
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block_jacobi_preconditioner.cc
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block_jacobian_writer.cc
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block_random_access_dense_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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canonical_views_clustering.cc
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cgnr_solver.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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corrector.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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evaluator.cc
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file.cc
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gradient_checking_cost_function.cc
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implicit_schur_complement.cc
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iterative_schur_complement_solver.cc
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levenberg_marquardt_strategy.cc
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linear_least_squares_problems.cc
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linear_operator.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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normal_prior.cc
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partitioned_matrix_view.cc
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problem.cc
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problem_impl.cc
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program.cc
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residual_block.cc
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residual_block_utils.cc
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runtime_numeric_diff_cost_function.cc
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schur_complement_solver.cc
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schur_eliminator.cc
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schur_ordering.cc
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scratch_evaluate_preparer.cc
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solver.cc
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solver_impl.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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trust_region_minimizer.cc
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trust_region_strategy.cc
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triplet_sparse_matrix.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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)
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If (${PROTOBUF_FOUND})
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PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS matrix.proto)
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ENDIF (${PROTOBUF_FOUND})
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# Also depend on the header files so that they appear in IDEs.
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FILE(GLOB CERES_INTERNAL_HDRS *.h)
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# Include the specialized schur solvers.
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IF (${SCHUR_SPECIALIZATIONS})
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FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/*.cc)
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ELSE (${SCHUR_SPECIALIZATIONS})
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# Only the fully dynamic solver.
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FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/schur_eliminator_d_d_d.cc)
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ENDIF (${SCHUR_SPECIALIZATIONS})
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ADD_LIBRARY(ceres
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${PROTO_SRCS}
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${PROTO_HDRS}
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${CERES_INTERNAL_SRC}
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${CERES_INTERNAL_HDRS}
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${CERES_INTERNAL_SCHUR_FILES})
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SET(CERES_LIBRARY_DEPENDENCIES ${GLOG_LIB})
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IF (${GFLAGS})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${GFLAGS_LIB})
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ENDIF (${GFLAGS})
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IF (${SUITESPARSE_FOUND})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CHOLMOD_LIB})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CCOLAMD_LIB})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CAMD_LIB})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${COLAMD_LIB})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${AMD_LIB})
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IF (EXISTS ${METIS_LIB})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${METIS_LIB})
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ENDIF (EXISTS ${METIS_LIB})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${LAPACK_LIB})
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IF (EXISTS ${BLAS_LIB})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${BLAS_LIB})
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ENDIF (EXISTS ${BLAS_LIB})
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ENDIF (${SUITESPARSE_FOUND})
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IF (${CXSPARSE_FOUND})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CXSPARSE_LIB})
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ENDIF (${CXSPARSE_FOUND})
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IF (${OPENMP_FOUND})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES gomp)
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ENDIF (${OPENMP_FOUND})
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IF (${PROTOBUF_FOUND})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${PROTOBUF_LIBRARY})
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ENDIF (${PROTOBUF_FOUND})
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TARGET_LINK_LIBRARIES(ceres ${CERES_LIBRARY_DEPENDENCIES})
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IF (${BUILD_TESTING})
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ADD_LIBRARY(gtest gmock_gtest_all.cc gmock_main.cc)
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ADD_LIBRARY(test_util test_util.cc)
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TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIB} ${GLOG_LIB})
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MACRO (CERES_TEST NAME)
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ADD_EXECUTABLE(${NAME}_test ${NAME}_test.cc)
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TARGET_LINK_LIBRARIES(${NAME}_test test_util ceres gtest)
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ADD_TEST(${NAME}_test
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${NAME}_test
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--test_srcdir
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${CMAKE_SOURCE_DIR}/data)
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ENDMACRO (CERES_TEST)
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CERES_TEST(array_utils)
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CERES_TEST(autodiff)
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CERES_TEST(autodiff_cost_function)
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CERES_TEST(block_random_access_dense_matrix)
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CERES_TEST(block_random_access_sparse_matrix)
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CERES_TEST(block_sparse_matrix)
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CERES_TEST(canonical_views_clustering)
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CERES_TEST(compressed_row_sparse_matrix)
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CERES_TEST(conditioned_cost_function)
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CERES_TEST(corrector)
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CERES_TEST(dense_sparse_matrix)
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CERES_TEST(evaluator)
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CERES_TEST(gradient_checking_cost_function)
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CERES_TEST(graph)
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CERES_TEST(graph_algorithms)
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CERES_TEST(implicit_schur_complement)
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CERES_TEST(iterative_schur_complement_solver)
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CERES_TEST(jet)
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CERES_TEST(levenberg_marquardt_strategy)
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CERES_TEST(local_parameterization)
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CERES_TEST(loss_function)
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CERES_TEST(minimizer)
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CERES_TEST(normal_prior)
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CERES_TEST(numeric_diff_cost_function)
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CERES_TEST(parameter_block)
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CERES_TEST(partitioned_matrix_view)
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CERES_TEST(problem)
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CERES_TEST(residual_block)
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CERES_TEST(residual_block_utils)
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CERES_TEST(rotation)
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CERES_TEST(runtime_numeric_diff_cost_function)
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CERES_TEST(schur_complement_solver)
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IF (GFLAGS)
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CERES_TEST(schur_eliminator)
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ENDIF (GFLAGS)
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CERES_TEST(schur_ordering)
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CERES_TEST(solver_impl)
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IF (SUITESPARSE)
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CERES_TEST(suitesparse)
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ENDIF(SUITESPARSE)
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CERES_TEST(symmetric_linear_solver)
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CERES_TEST(triplet_sparse_matrix)
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CERES_TEST(trust_region_minimizer)
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CERES_TEST(unsymmetric_linear_solver)
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CERES_TEST(visibility)
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IF (GFLAGS)
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CERES_TEST(visibility_based_preconditioner)
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ENDIF (GFLAGS)
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# Large end to end test for the entire solver.
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IF (${GFLAGS})
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CERES_TEST(system)
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ENDIF (${GFLAGS})
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ENDIF (${BUILD_TESTING})
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