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# Ceres Solver - A fast non-linear least squares minimizer
# Copyright 2018 Google Inc. All rights reserved.
# http://ceres-solver.org/
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
# * Neither the name of Google Inc. nor the names of its contributors may be
# used to endorse or promote products derived from this software without
# specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Author: mierle@gmail.com (Keir Mierle)
#
# These are Bazel rules to build Ceres. It's currently in Alpha state, and does
# not support parameterization around threading choice or sparse backends.
load("//:bazel/ceres.bzl", "ceres_library")
ceres_library(
name = "ceres",
restrict_schur_specializations = False,
)
cc_library(
name = "test_util",
srcs = ["internal/ceres/" + x for x in [
"evaluator_test_utils.cc",
"numeric_diff_test_utils.cc",
"test_util.cc",
"gmock_gtest_all.cc",
"gmock_main.cc",
"gmock/gmock.h",
"gmock/mock-log.h",
"gtest/gtest.h",
]],
hdrs = [
"internal/ceres/gmock/gmock.h",
"internal/ceres/gmock/mock-log.h",
"internal/ceres/gtest/gtest.h",
],
copts = [
"-Wno-sign-compare",
"-DCERES_TEST_SRCDIR_SUFFIX=\\\"data/\\\"",
],
includes = [
"internal",
"internal/ceres",
],
deps = [
"//:ceres",
"@com_github_gflags_gflags//:gflags",
],
)
CERES_TESTS = [
"array_utils",
"autodiff_cost_function",
"autodiff_local_parameterization",
"autodiff_manifold",
"autodiff",
"block_jacobi_preconditioner",
"block_random_access_dense_matrix",
"block_random_access_diagonal_matrix",
"block_random_access_sparse_matrix",
"block_sparse_matrix",
"canonical_views_clustering",
"c_api",
"compressed_col_sparse_matrix_utils",
"compressed_row_sparse_matrix",
"concurrent_queue",
"conditioned_cost_function",
"conjugate_gradients_solver",
"corrector",
"cost_function_to_functor",
"covariance",
"cubic_interpolation",
"dense_cholesky",
"dense_linear_solver",
"dense_sparse_matrix",
"detect_structure",
"dogleg_strategy",
"dynamic_autodiff_cost_function",
"dynamic_compressed_row_sparse_matrix",
"dynamic_numeric_diff_cost_function",
"dynamic_sparse_normal_cholesky_solver",
"dynamic_sparsity",
"evaluation_callback",
"evaluator",
"gradient_checker",
"gradient_checking_cost_function",
"gradient_problem_solver",
"gradient_problem",
"graph_algorithms",
"graph",
"householder_vector",
"implicit_schur_complement",
"inner_product_computer",
"invert_psd_matrix",
"is_close",
"iterative_refiner",
"iterative_schur_complement_solver",
"jet",
"levenberg_marquardt_strategy",
"line_search_minimizer",
"line_search_preprocessor",
"local_parameterization",
"loss_function",
"minimizer",
"normal_prior",
"numeric_diff_cost_function",
"ordered_groups",
"parallel_for",
"parallel_utils",
"parameter_block_ordering",
"parameter_block",
"partitioned_matrix_view",
"polynomial",
"problem",
"program",
"reorder_program",
"residual_block",
"residual_block_utils",
"rotation",
"schur_complement_solver",
"schur_eliminator",
"single_linkage_clustering",
"small_blas",
"solver",
"sparse_cholesky",
"sparse_normal_cholesky_solver",
"subset_preconditioner",
"system",
"thread_pool",
"tiny_solver_autodiff_function",
"tiny_solver_cost_function_adapter",
"tiny_solver",
"triplet_sparse_matrix",
"trust_region_minimizer",
"trust_region_preprocessor",
"visibility_based_preconditioner",
"visibility",
]
TEST_COPTS = [
# Needed to silence GFlags complaints.
"-Wno-sign-compare",
# These two warnings don't work well in conjunction with GMock, and
# trigger incorrectly on parts of rotation_test. For now, disable them,
# but in the future disable these warnings only for rotation_test.
# TODO(keir): When the tests are macro-ified, apply these selectively.
"-Wno-address",
# Disable warnings about deprecated interfraces while we are
# transitioning from LocalParameterization to Manifolds.
"-Wno-deprecated-declarations",
]
TEST_DEPS = [
"//:ceres",
"//:test_util",
"@com_gitlab_libeigen_eigen//:eigen",
"@com_github_gflags_gflags//:gflags",
]
# Instantiate all the tests with a template.
[cc_test(
name = test_name + "_test",
timeout = "short",
srcs = ["internal/ceres/" + test_name + "_test.cc"],
copts = TEST_COPTS,
deps = TEST_DEPS,
) for test_name in CERES_TESTS]
# Instantiate all the bundle adjustment tests. These are separate to
# parallelize the execution of the tests; otherwise the tests take a long time.
#
# Note: While it is possible to run the Python script to generate the .cc files
# as part of the build, it introduces an undesirable build-time Python
# dependency that we'd prefer to avoid.
[cc_test(
name = test_filename.split("/")[-1][:-3], # Remove .cc.
timeout = "moderate",
srcs = [test_filename],
copts = TEST_COPTS,
# This is the data set that is bundled for the testing.
data = [":data/problem-16-22106-pre.txt"],
deps = TEST_DEPS,
) for test_filename in glob([
"internal/ceres/generated_bundle_adjustment_tests/*_test.cc",
])]
# Build the benchmarks.
[cc_binary(
name = benchmark_name,
srcs = ["internal/ceres/" + benchmark_name + ".cc"],
copts = TEST_COPTS,
deps = TEST_DEPS + ["@com_github_google_benchmark//:benchmark"],
) for benchmark_name in [
"small_blas_gemm_benchmark",
"small_blas_gemv_benchmark",
]]
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