Add sparse Eigen support to Bazel build. (#1074)

bazel/repositories.bzl

@@ -124,11 +124,11 @@ def cartographer_repositories():
   _maybe(native.new_http_archive,
       name = "org_ceres_solver_ceres_solver",
       build_file = "@com_github_googlecartographer_cartographer//bazel/third_party:ceres.BUILD",
-      sha256 = "cb69d1ca4900bc9c4703116a9facba00413eafd893430659fab63246f5320288",
-      strip_prefix = "ceres-solver-f58eacf082ddf198b2bf982e3cdb57ed3b5ea025",
+      sha256 = "ede5b4205ee8d7c7e029e9da74c7ee759fee6961f7e6bfa694274e4a55b8c7ca",
+      strip_prefix = "ceres-solver-58c5edae2f7c4d2533fe8a975c1f5f0b892dfd3e",
       urls = [
-          "https://mirror.bazel.build/github.com/ceres-solver/ceres-solver/archive/f58eacf082ddf198b2bf982e3cdb57ed3b5ea025.tar.gz",
-          "https://github.com/ceres-solver/ceres-solver/archive/f58eacf082ddf198b2bf982e3cdb57ed3b5ea025.tar.gz",
+          "https://mirror.bazel.build/github.com/ceres-solver/ceres-solver/archive/58c5edae2f7c4d2533fe8a975c1f5f0b892dfd3e.tar.gz",
+          "https://github.com/ceres-solver/ceres-solver/archive/58c5edae2f7c4d2533fe8a975c1f5f0b892dfd3e.tar.gz",
       ],
   )
 

bazel/third_party/ceres.BUILD

@@ -20,14 +20,12 @@ licenses(["notice"])  # New BSD, portions MIT.
 
 CERES_DEFINES = [
     "CERES_USE_CXX11",
-    "CERES_NO_EIGENSPARSE",
+    "CERES_USE_EIGEN_SPARSE",
     "CERES_NO_SUITESPARSE",
     "CERES_NO_LAPACK",
     "CERES_NO_CXSPARSE",
     "CERES_STD_UNORDERED_MAP",
-
-    # Enable support for OpenMP.
-    "CERES_USE_OPENMP",
+    "CERES_USE_CXX11_THREADS",
 
     # Use the internal mutex code. Not ideal, but it works.
     "CERES_HAVE_PTHREAD",
@@ -58,6 +56,7 @@ cc_library(
         "internal/ceres/compressed_row_sparse_matrix.cc",
         "internal/ceres/conditioned_cost_function.cc",
         "internal/ceres/conjugate_gradients_solver.cc",
+        "internal/ceres/context_impl.cc",
         "internal/ceres/corrector.cc",
         "internal/ceres/covariance.cc",
         "internal/ceres/covariance_impl.cc",
@@ -80,6 +79,7 @@ cc_library(
         "internal/ceres/implicit_schur_complement.cc",
         "internal/ceres/inner_product_computer.cc",
         "internal/ceres/is_close.cc",
+        "internal/ceres/iterative_refiner.cc",
         "internal/ceres/iterative_schur_complement_solver.cc",
         "internal/ceres/lapack.cc",
         "internal/ceres/levenberg_marquardt_strategy.cc",
@@ -95,6 +95,7 @@ cc_library(
         "internal/ceres/low_rank_inverse_hessian.cc",
         "internal/ceres/minimizer.cc",
         "internal/ceres/normal_prior.cc",
+        "internal/ceres/parallel_for_cxx.cc",
         "internal/ceres/parameter_block_ordering.cc",
         "internal/ceres/partitioned_matrix_view.cc",
         "internal/ceres/polynomial.cc",
@@ -120,6 +121,8 @@ cc_library(
         "internal/ceres/split.cc",
         "internal/ceres/stringprintf.cc",
         "internal/ceres/suitesparse.cc",
+        "internal/ceres/thread_pool.cc",
+        "internal/ceres/thread_token_provider.cc",
         "internal/ceres/trust_region_minimizer.cc",
         "internal/ceres/trust_region_preprocessor.cc",
         "internal/ceres/trust_region_step_evaluator.cc",

bazel/third_party/eigen.BUILD

@@ -25,22 +25,6 @@ licenses([
 
 exports_files(["COPYING.MPL2"])
 
-# License-restricted (i.e. not reciprocal or notice) files inside Eigen/...
-EIGEN_RESTRICTED_FILES = [
-    "Eigen/src/OrderingMethods/Amd.h",
-    "Eigen/src/SparseCholesky/**",
-]
-
-# Notable transitive dependencies of restricted files inside Eigen/...
-EIGEN_RESTRICTED_DEPS = [
-    "Eigen/Eigen",
-    "Eigen/IterativeLinearSolvers",
-    "Eigen/MetisSupport",
-    "Eigen/Sparse",
-    "Eigen/SparseCholesky",
-    "Eigen/SparseLU",
-]
-
 EIGEN_FILES = [
     "Eigen/**",
     "unsupported/Eigen/CXX11/**",
@@ -59,26 +43,14 @@ EIGEN_EXCLUDE_FILES = [
     "Eigen/src/Core/arch/AVX/PacketMathGoogleTest.cc",
 ]
 
-# Files known to be under MPL2 license.
 EIGEN_MPL2_HEADER_FILES = glob(
     EIGEN_FILES,
-    exclude = EIGEN_EXCLUDE_FILES +
-              EIGEN_RESTRICTED_FILES +
-              EIGEN_RESTRICTED_DEPS + [
-        # Guarantees any file missed by excludes above will not compile.
-        "Eigen/src/Core/util/NonMPL2.h",
-        "Eigen/**/CMakeLists.txt",
-    ],
+    exclude = EIGEN_EXCLUDE_FILES,
 )
 
 cc_library(
     name = "eigen",
     hdrs = EIGEN_MPL2_HEADER_FILES,
-    defines = [
-        # This define (mostly) guarantees we don't link any problematic
-        # code. We use it, but we do not rely on it, as evidenced above.
-        "EIGEN_MPL2_ONLY",
-    ],
     includes = ["."],
     visibility = ["//visibility:public"],
 )