mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
efa091122d
1. Break up unsymmetric_linear_solver_test into
a. dense_linear_solver_test which covers DENSE_QR and
DENSE_NORMAL_CHOLESKY.
b. sparse_normal_cholesky_solver_test which covers
SPARSE_NORMAL_CHOLESKY.
2. dense_linear_solver_test has been completely re-written. It now
uses value parameterized tests for better logging. The number of
test problems as been increased to 2. Last but not the least
the actual test of correctness is not based on a golden solution
computed using another linear solver. We now compute the residual
and ensure that it is small.
https://github.com/ceres-solver/ceres-solver/issues/279
Change-Id: I9546a43e8ae85c31b2096a99405e47da326755ee
367 lines
13 KiB
CMake
367 lines
13 KiB
CMake
# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2015 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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# 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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blas.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_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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canonical_views_clustering.cc
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cgnr_solver.cc
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callbacks.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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cxsparse.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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evaluator.cc
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eigensparse.cc
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file.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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implicit_schur_complement.cc
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is_close.cc
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iterative_schur_complement_solver.cc
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levenberg_marquardt_strategy.cc
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lapack.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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line_search_preprocessor.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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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_matrix.cc
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sparse_cholesky.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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triplet_sparse_matrix.cc
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trust_region_preprocessor.cc
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trust_region_minimizer.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.cc
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visibility_based_preconditioner.cc
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wall_time.cc
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)
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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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if (MINIGLOG)
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file(GLOB MINIGLOG_HDRS miniglog/glog/*.h)
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list(APPEND CERES_INTERNAL_HDRS ${MINIGLOG_HDRS})
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endif()
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# Depend also on public headers so they appear in IDEs.
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file(GLOB CERES_PUBLIC_HDRS ${Ceres_SOURCE_DIR}/include/ceres/*.h)
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file(GLOB CERES_PUBLIC_INTERNAL_HDRS ${Ceres_SOURCE_DIR}/include/ceres/internal/*.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. The build is much faster this way.
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file(GLOB CERES_INTERNAL_SCHUR_FILES generated/*_d_d_d.cc)
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endif (SCHUR_SPECIALIZATIONS)
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# Build the list of dependencies for Ceres based on the current configuration.
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if (NOT MINIGLOG AND GLOG_FOUND)
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list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GLOG_LIBRARIES})
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if (GFLAGS_FOUND)
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# If glog & gflags are both found, we assume that glog was built with
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# gflags, as it is awkward to perform a try_compile() to verify this
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# when gflags is an imported target (as it is in newer versions).
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# As glog #includes gflags/gflags.h in glog/logging.h if compiled with
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# gflags, it is thus a public dependency for Ceres in this case.
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list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GFLAGS_LIBRARIES})
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endif()
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endif (NOT MINIGLOG AND GLOG_FOUND)
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if (SUITESPARSE AND SUITESPARSE_FOUND)
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# Define version information for use in Solver::FullReport.
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add_definitions(-DCERES_SUITESPARSE_VERSION="${SUITESPARSE_VERSION}")
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list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${SUITESPARSE_LIBRARIES})
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endif (SUITESPARSE AND SUITESPARSE_FOUND)
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if (CXSPARSE AND CXSPARSE_FOUND)
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# Define version information for use in Solver::FullReport.
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add_definitions(-DCERES_CXSPARSE_VERSION="${CXSPARSE_VERSION}")
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list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CXSPARSE_LIBRARIES})
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endif (CXSPARSE AND CXSPARSE_FOUND)
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if (BLAS_FOUND AND LAPACK_FOUND)
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list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${LAPACK_LIBRARIES})
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list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${BLAS_LIBRARIES})
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endif (BLAS_FOUND AND LAPACK_FOUND)
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if (OPENMP_FOUND)
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# OpenMP support in Clang requires a non-GNU OpenMP library.
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if (CMAKE_COMPILER_IS_GNUCXX)
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list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES gomp)
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endif()
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if (NOT MSVC)
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list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CMAKE_THREAD_LIBS_INIT})
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endif()
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endif (OPENMP_FOUND)
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set(CERES_LIBRARY_SOURCE
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${CERES_INTERNAL_SRC}
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${CERES_INTERNAL_HDRS}
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${CERES_PUBLIC_HDRS}
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${CERES_PUBLIC_INTERNAL_HDRS}
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${CERES_INTERNAL_SCHUR_FILES})
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# Primarily for Android, but optionally for others, compile the minimal
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# glog implementation into Ceres.
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if (MINIGLOG)
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list(APPEND CERES_LIBRARY_SOURCE miniglog/glog/logging.cc)
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endif (MINIGLOG)
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add_library(ceres ${CERES_LIBRARY_SOURCE})
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set_target_properties(ceres PROPERTIES
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VERSION ${CERES_VERSION}
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SOVERSION ${CERES_VERSION_MAJOR})
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include(AppendTargetProperty)
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# Always build position-independent code (PIC), even when building Ceres as a
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# static library so that shared libraries can link against it, not just
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# executables (PIC does not apply on Windows).
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if (NOT WIN32 AND NOT BUILD_SHARED_LIBS)
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# Use the explicit POSITION_INDEPENDENT_CODE target property on CMake versions
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# that support it (>= 2.8.9). Otherwise, manually add the -fPIC flag as an
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# additional compile definitions for the target.
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if (CMAKE_VERSION VERSION_LESS "2.8.9")
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append_target_property(ceres COMPILE_FLAGS "-fPIC")
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else()
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# Use set_target_properties() not append_target_property() here as
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# POSITION_INDEPENDENT_CODE is a binary ON/OFF switch.
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set_target_properties(ceres PROPERTIES POSITION_INDEPENDENT_CODE ON)
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endif()
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endif()
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if (CXX11)
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include(AddCeresCXX11RequirementsToTarget)
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add_ceres_cxx11_requirements_to_target(ceres)
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endif()
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if (BUILD_SHARED_LIBS)
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# When building a shared library, mark all external libraries as
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# PRIVATE so they don't show up as a dependency.
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target_link_libraries(ceres
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LINK_PUBLIC ${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
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LINK_PRIVATE ${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
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else (BUILD_SHARED_LIBS)
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# When building a static library, all external libraries are
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# PUBLIC(default) since the user needs to link to them.
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# They will be listed in CeresTargets.cmake.
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set(CERES_LIBRARY_DEPENDENCIES
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${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
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${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
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target_link_libraries(ceres ${CERES_LIBRARY_DEPENDENCIES})
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endif (BUILD_SHARED_LIBS)
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install(TARGETS ceres
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EXPORT CeresExport
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib${LIB_SUFFIX}
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ARCHIVE DESTINATION lib${LIB_SUFFIX})
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if (BUILD_TESTING AND GFLAGS)
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add_library(gtest gmock_gtest_all.cc gmock_main.cc)
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if (BUILD_SHARED_LIBS)
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# Define gtest-specific shared library flags for compilation.
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append_target_property(gtest COMPILE_DEFINITIONS
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GTEST_CREATE_SHARED_LIBRARY)
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endif()
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add_library(test_util
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evaluator_test_utils.cc
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numeric_diff_test_utils.cc
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test_util.cc)
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if (MINIGLOG)
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# When using miniglog, it is compiled into Ceres, thus Ceres becomes
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# the library against which other libraries should link for logging.
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target_link_libraries(gtest ${GFLAGS_LIBRARIES} ceres)
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target_link_libraries(test_util ceres gtest)
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else (MINIGLOG)
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target_link_libraries(gtest ${GFLAGS_LIBRARIES} ${GLOG_LIBRARIES})
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target_link_libraries(test_util ceres gtest ${GLOG_LIBRARIES})
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endif (MINIGLOG)
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macro (CERES_TEST NAME)
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add_executable(${NAME}_test ${NAME}_test.cc)
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target_link_libraries(${NAME}_test test_util ceres gtest)
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if (BUILD_SHARED_LIBS)
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# Define gtest-specific shared library flags for linking.
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append_target_property(${NAME}_test COMPILE_DEFINITIONS
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GTEST_LINKED_AS_SHARED_LIBRARY)
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endif()
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add_test(NAME ${NAME}_test
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COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${NAME}_test
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--test_srcdir
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${Ceres_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(autodiff_local_parameterization)
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ceres_test(block_jacobi_preconditioner)
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ceres_test(block_random_access_dense_matrix)
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ceres_test(block_random_access_diagonal_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(bundle_adjustment)
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ceres_test(c_api)
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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(cost_function_to_functor)
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ceres_test(covariance)
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ceres_test(cubic_interpolation)
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ceres_test(detect_structure)
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ceres_test(dense_linear_solver)
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ceres_test(dense_sparse_matrix)
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ceres_test(dynamic_autodiff_cost_function)
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ceres_test(dynamic_compressed_row_sparse_matrix)
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ceres_test(dynamic_numeric_diff_cost_function)
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ceres_test(dynamic_sparsity)
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ceres_test(evaluator)
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ceres_test(gradient_checker)
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ceres_test(gradient_checking_cost_function)
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ceres_test(gradient_problem)
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ceres_test(gradient_problem_solver)
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ceres_test(graph)
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ceres_test(graph_algorithms)
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ceres_test(householder_vector)
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ceres_test(is_close)
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ceres_test(invert_psd_matrix)
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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(dogleg_strategy)
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ceres_test(line_search_minimizer)
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ceres_test(line_search_preprocessor)
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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(ordered_groups)
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ceres_test(parameter_block)
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ceres_test(parameter_block_ordering)
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ceres_test(partitioned_matrix_view)
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ceres_test(polynomial)
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ceres_test(problem)
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ceres_test(program)
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ceres_test(reorder_program)
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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(schur_complement_solver)
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ceres_test(schur_eliminator)
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ceres_test(single_linkage_clustering)
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ceres_test(small_blas)
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ceres_test(solver)
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ceres_test(sparse_cholesky)
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ceres_test(sparse_normal_cholesky_solver)
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# TODO(sameeragarwal): This test should ultimately be made
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# independent of SuiteSparse.
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if (SUITESPARSE AND SUITESPARSE_FOUND)
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ceres_test(compressed_col_sparse_matrix_utils)
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target_link_libraries(compressed_col_sparse_matrix_utils_test
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${SUITESPARSE_LIBRARIES})
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endif (SUITESPARSE AND SUITESPARSE_FOUND)
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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(trust_region_preprocessor)
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ceres_test(visibility)
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ceres_test(visibility_based_preconditioner)
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# Put the large end to end test last.
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ceres_test(system)
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endif (BUILD_TESTING AND GFLAGS)
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