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cartographer/bazel/third_party/ceres.BUILD

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Add a Bazel build for cartographer (#834) This does not include cartographer_grpc, nor any of the binaries (*_main.cc). It has been tested with Bazel 0.9.0 on Ubuntu 14.04 with the latest (at time of writing) dazel/dazel container, by running: ``` bazel build //... bazel test //... ``` While this is a large CL, the files under third_party are not new - they have been through internal review, and this is their open-source release. The other files come to 212 lines of code.
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# Copyright 2018 The Cartographer Authors
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# Description:
# Ceres Solver is an open source C++ library for modeling and solving large,
# complicated optimization problems.
licenses(["notice"]) # New BSD, portions MIT.
CERES_DEFINES = [
"CERES_USE_CXX11",
Add sparse Eigen support to Bazel build. (#1074)
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"CERES_USE_EIGEN_SPARSE",
Add a Bazel build for cartographer (#834) This does not include cartographer_grpc, nor any of the binaries (*_main.cc). It has been tested with Bazel 0.9.0 on Ubuntu 14.04 with the latest (at time of writing) dazel/dazel container, by running: ``` bazel build //... bazel test //... ``` While this is a large CL, the files under third_party are not new - they have been through internal review, and this is their open-source release. The other files come to 212 lines of code.
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"CERES_NO_SUITESPARSE",
"CERES_NO_LAPACK",
"CERES_NO_CXSPARSE",
"CERES_STD_UNORDERED_MAP",
Add sparse Eigen support to Bazel build. (#1074)
2018-04-17 15:46:51 +08:00
"CERES_USE_CXX11_THREADS",
Add a Bazel build for cartographer (#834) This does not include cartographer_grpc, nor any of the binaries (*_main.cc). It has been tested with Bazel 0.9.0 on Ubuntu 14.04 with the latest (at time of writing) dazel/dazel container, by running: ``` bazel build //... bazel test //... ``` While this is a large CL, the files under third_party are not new - they have been through internal review, and this is their open-source release. The other files come to 212 lines of code.
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# Use the internal mutex code. Not ideal, but it works.
"CERES_HAVE_PTHREAD",
"CERES_HAVE_RWLOCK",
]
cc_library(
name = "ceres",
srcs = [
"internal/ceres/array_utils.cc",
"internal/ceres/blas.cc",
"internal/ceres/block_evaluate_preparer.cc",
"internal/ceres/block_jacobi_preconditioner.cc",
"internal/ceres/block_jacobian_writer.cc",
"internal/ceres/block_random_access_dense_matrix.cc",
"internal/ceres/block_random_access_diagonal_matrix.cc",
"internal/ceres/block_random_access_matrix.cc",
"internal/ceres/block_random_access_sparse_matrix.cc",
"internal/ceres/block_sparse_matrix.cc",
"internal/ceres/block_structure.cc",
"internal/ceres/callbacks.cc",
"internal/ceres/c_api.cc",
"internal/ceres/canonical_views_clustering.cc",
"internal/ceres/cgnr_solver.cc",
"internal/ceres/coordinate_descent_minimizer.cc",
"internal/ceres/compressed_col_sparse_matrix_utils.cc",
"internal/ceres/compressed_row_jacobian_writer.cc",
"internal/ceres/compressed_row_sparse_matrix.cc",
"internal/ceres/conditioned_cost_function.cc",
"internal/ceres/conjugate_gradients_solver.cc",
Add sparse Eigen support to Bazel build. (#1074)
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"internal/ceres/context_impl.cc",
Add a Bazel build for cartographer (#834) This does not include cartographer_grpc, nor any of the binaries (*_main.cc). It has been tested with Bazel 0.9.0 on Ubuntu 14.04 with the latest (at time of writing) dazel/dazel container, by running: ``` bazel build //... bazel test //... ``` While this is a large CL, the files under third_party are not new - they have been through internal review, and this is their open-source release. The other files come to 212 lines of code.
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"internal/ceres/corrector.cc",
"internal/ceres/covariance.cc",
"internal/ceres/covariance_impl.cc",
"internal/ceres/dense_normal_cholesky_solver.cc",
"internal/ceres/dense_qr_solver.cc",
"internal/ceres/dense_sparse_matrix.cc",
"internal/ceres/detect_structure.cc",
"internal/ceres/dogleg_strategy.cc",
"internal/ceres/dynamic_compressed_row_jacobian_writer.cc",
"internal/ceres/dynamic_compressed_row_sparse_matrix.cc",
"internal/ceres/dynamic_sparse_normal_cholesky_solver.cc",
"internal/ceres/eigensparse.cc",
"internal/ceres/evaluator.cc",
"internal/ceres/file.cc",
"internal/ceres/function_sample.cc",
"internal/ceres/gradient_checker.cc",
"internal/ceres/gradient_checking_cost_function.cc",
"internal/ceres/gradient_problem.cc",
"internal/ceres/gradient_problem_solver.cc",
"internal/ceres/implicit_schur_complement.cc",
"internal/ceres/inner_product_computer.cc",
"internal/ceres/is_close.cc",
Add sparse Eigen support to Bazel build. (#1074)
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"internal/ceres/iterative_refiner.cc",
Add a Bazel build for cartographer (#834) This does not include cartographer_grpc, nor any of the binaries (*_main.cc). It has been tested with Bazel 0.9.0 on Ubuntu 14.04 with the latest (at time of writing) dazel/dazel container, by running: ``` bazel build //... bazel test //... ``` While this is a large CL, the files under third_party are not new - they have been through internal review, and this is their open-source release. The other files come to 212 lines of code.
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"internal/ceres/iterative_schur_complement_solver.cc",
"internal/ceres/lapack.cc",
"internal/ceres/levenberg_marquardt_strategy.cc",
"internal/ceres/line_search.cc",
"internal/ceres/line_search_direction.cc",
"internal/ceres/line_search_minimizer.cc",
"internal/ceres/line_search_preprocessor.cc",
"internal/ceres/linear_least_squares_problems.cc",
"internal/ceres/linear_operator.cc",
"internal/ceres/linear_solver.cc",
"internal/ceres/local_parameterization.cc",
"internal/ceres/loss_function.cc",
"internal/ceres/low_rank_inverse_hessian.cc",
"internal/ceres/minimizer.cc",
"internal/ceres/normal_prior.cc",
Add sparse Eigen support to Bazel build. (#1074)
2018-04-17 15:46:51 +08:00
"internal/ceres/parallel_for_cxx.cc",
Add a Bazel build for cartographer (#834) This does not include cartographer_grpc, nor any of the binaries (*_main.cc). It has been tested with Bazel 0.9.0 on Ubuntu 14.04 with the latest (at time of writing) dazel/dazel container, by running: ``` bazel build //... bazel test //... ``` While this is a large CL, the files under third_party are not new - they have been through internal review, and this is their open-source release. The other files come to 212 lines of code.
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"internal/ceres/parameter_block_ordering.cc",
"internal/ceres/partitioned_matrix_view.cc",
"internal/ceres/polynomial.cc",
"internal/ceres/preconditioner.cc",
"internal/ceres/preprocessor.cc",
"internal/ceres/problem.cc",
"internal/ceres/problem_impl.cc",
"internal/ceres/program.cc",
"internal/ceres/reorder_program.cc",
"internal/ceres/residual_block.cc",
"internal/ceres/residual_block_utils.cc",
"internal/ceres/schur_complement_solver.cc",
"internal/ceres/schur_eliminator.cc",
"internal/ceres/schur_jacobi_preconditioner.cc",
"internal/ceres/schur_templates.cc",
"internal/ceres/scratch_evaluate_preparer.cc",
"internal/ceres/single_linkage_clustering.cc",
"internal/ceres/solver.cc",
"internal/ceres/solver_utils.cc",
"internal/ceres/sparse_cholesky.cc",
"internal/ceres/sparse_matrix.cc",
"internal/ceres/sparse_normal_cholesky_solver.cc",
"internal/ceres/split.cc",
"internal/ceres/stringprintf.cc",
"internal/ceres/suitesparse.cc",
Add sparse Eigen support to Bazel build. (#1074)
2018-04-17 15:46:51 +08:00
"internal/ceres/thread_pool.cc",
"internal/ceres/thread_token_provider.cc",
Add a Bazel build for cartographer (#834) This does not include cartographer_grpc, nor any of the binaries (*_main.cc). It has been tested with Bazel 0.9.0 on Ubuntu 14.04 with the latest (at time of writing) dazel/dazel container, by running: ``` bazel build //... bazel test //... ``` While this is a large CL, the files under third_party are not new - they have been through internal review, and this is their open-source release. The other files come to 212 lines of code.
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"internal/ceres/trust_region_minimizer.cc",
"internal/ceres/trust_region_preprocessor.cc",
"internal/ceres/trust_region_step_evaluator.cc",
"internal/ceres/trust_region_strategy.cc",
"internal/ceres/triplet_sparse_matrix.cc",
"internal/ceres/types.cc",
"internal/ceres/visibility_based_preconditioner.cc",
"internal/ceres/visibility.cc",
"internal/ceres/wall_time.cc",
] + glob([
"internal/ceres/generated/schur_eliminator_*.cc",
"internal/ceres/generated/partitioned_matrix_view_*.cc",
"config/**/*.h",
"internal/**/*.h",
]),
hdrs = glob([
"include/ceres/*.h",
"include/ceres/internal/*.h",
]),
copts = [
"-fopenmp",
"-Wno-sign-compare",
],
defines = CERES_DEFINES,
includes = [
"config",
"include",
"internal",
],
linkopts = [
"-lgomp",
],
linkstatic = 1,
visibility = ["//visibility:public"],
deps = [
"@com_google_glog//:glog",
"@org_tuxfamily_eigen//:eigen",
],
)