# Ceres Solver - A fast non-linear least squares minimizer # Copyright 2023 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_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", "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", ] 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 = "long", 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", ]]