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Build - Vendor the Ceres library in mmSolverLibs
This commit vendors Ceres Solver 1.14.0 into the mmSolver project to eliminate external dependency management and ensure consistent behavior across all build environments.
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‎lib/CMakeLists.txt‎

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@@ -100,14 +100,14 @@ if(EXISTS "${eigen_vendored_dir}")
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message(STATUS "Set up vendored Eigen variables for dependencies: ${eigen_vendored_dir}")
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endif()
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add_subdirectory(thirdparty)
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# Finds and builds external (third-party) dependencies for
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# mmsolverlibs.
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include(FindAndBuildMmsolverDependencies)
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# Finds and builds external (third-party) LDPK dependencies.
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include(FindAndBuildLdpkPackages)
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add_subdirectory(thirdparty)
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add_subdirectory(mmsolverlibs/src)
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option(MMSOLVERLIBS_BUILD_TESTS "Do you want to build the test files for mmsolverlibs?" OFF)

‎lib/thirdparty/CMakeLists.txt‎

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add_subdirectory(cminpack)
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add_subdirectory(eigen)
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add_subdirectory(glog)
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add_subdirectory(ceres)
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add_subdirectory(openMVG)

‎lib/thirdparty/ceres/.gitignore‎

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*~
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.*.swp
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CMakeLists.txt.user*
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*.kdev*
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*.bak
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*.orig
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build/
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build-release/
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build-debug/
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docs/html
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*.aux
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*.blg
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*.toc
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*.fdb_latexmk
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*.bbl
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*.log
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*.synctex.gz
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ceres.pdf
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ceres-solver.pdf
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docs/minted.sty
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obj/
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jni/libs/
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.buildinfo
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bazel-*

‎lib/thirdparty/ceres/BUILD‎

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# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2018 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: mierle@gmail.com (Keir Mierle)
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#
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# These are Bazel rules to build Ceres. It's currently in Alpha state, and does
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# not support parameterization around threading choice or sparse backends.
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load("//:bazel/ceres.bzl", "ceres_library")
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ceres_library(
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name = "ceres",
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restrict_schur_specializations = False,
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)
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cc_library(
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name = "test_util",
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srcs = ["internal/ceres/" + x for x in [
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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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"gmock_gtest_all.cc",
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"gmock_main.cc",
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"gmock/gmock.h",
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"gmock/mock-log.h",
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"gtest/gtest.h",
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]],
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hdrs = [
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"internal/ceres/gmock/gmock.h",
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"internal/ceres/gmock/mock-log.h",
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"internal/ceres/gtest/gtest.h",
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],
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copts = [
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"-Wno-sign-compare",
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"-DCERES_TEST_SRCDIR_SUFFIX=\\\"data/\\\"",
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],
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includes = [
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"internal",
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"internal/ceres",
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],
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deps = [
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"//:ceres",
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"@com_github_gflags_gflags//:gflags",
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],
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)
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CERES_TESTS = [
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"array_utils",
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"autodiff_cost_function",
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"autodiff_local_parameterization",
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"autodiff",
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"block_jacobi_preconditioner",
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"block_random_access_dense_matrix",
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"block_random_access_diagonal_matrix",
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"block_random_access_sparse_matrix",
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"block_sparse_matrix",
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"canonical_views_clustering",
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"c_api",
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"compressed_col_sparse_matrix_utils",
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"compressed_row_sparse_matrix",
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"concurrent_queue",
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"conditioned_cost_function",
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"conjugate_gradients_solver",
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"corrector",
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"cost_function_to_functor",
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"covariance",
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"cubic_interpolation",
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"dense_linear_solver",
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"dense_sparse_matrix",
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"detect_structure",
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"dogleg_strategy",
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"dynamic_autodiff_cost_function",
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"dynamic_compressed_row_sparse_matrix",
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"dynamic_numeric_diff_cost_function",
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"dynamic_sparse_normal_cholesky_solver",
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"dynamic_sparsity",
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"evaluation_callback",
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"evaluator",
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"gradient_checker",
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"gradient_checking_cost_function",
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"gradient_problem_solver",
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"gradient_problem",
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"graph_algorithms",
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"graph",
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"householder_vector",
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"implicit_schur_complement",
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"inner_product_computer",
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"invert_psd_matrix",
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"is_close",
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"iterative_schur_complement_solver",
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"jet",
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"levenberg_marquardt_strategy",
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"line_search_minimizer",
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"line_search_preprocessor",
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"local_parameterization",
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"loss_function",
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"minimizer",
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"normal_prior",
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"numeric_diff_cost_function",
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"ordered_groups",
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"parallel_for",
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"parallel_utils",
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"parameter_block_ordering",
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"parameter_block",
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"partitioned_matrix_view",
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"polynomial",
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"problem",
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"program",
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"reorder_program",
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"residual_block",
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"residual_block_utils",
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"rotation",
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"schur_complement_solver",
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"schur_eliminator",
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"single_linkage_clustering",
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"small_blas",
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"solver",
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"sparse_cholesky",
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"sparse_normal_cholesky_solver",
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"subset_preconditioner",
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"system",
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"thread_pool",
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"tiny_solver_autodiff_function",
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"tiny_solver_cost_function_adapter",
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"tiny_solver",
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"triplet_sparse_matrix",
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"trust_region_minimizer",
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"trust_region_preprocessor",
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"visibility_based_preconditioner",
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"visibility",
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]
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TEST_COPTS = [
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# Needed to silence GFlags complaints.
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"-Wno-sign-compare",
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# These two warnings don't work well in conjunction with GMock, and
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# trigger incorrectly on parts of rotation_test. For now, disable them,
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# but in the future disable these warnings only for rotation_test.
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# TODO(keir): When the tests are macro-ified, apply these selectively.
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"-Wno-nonnull-compare",
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"-Wno-address",
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]
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TEST_DEPS = [
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"//:ceres",
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"//:test_util",
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"@com_github_eigen_eigen//:eigen",
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"@com_github_gflags_gflags//:gflags",
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]
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# Instantiate all the tests with a template.
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[cc_test(
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name = test_name + "_test",
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timeout = "short",
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srcs = ["internal/ceres/" + test_name + "_test.cc"],
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copts = TEST_COPTS,
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deps = TEST_DEPS,
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) for test_name in CERES_TESTS]
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# Instantiate all the bundle adjustment tests. These are separate to
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# parallelize the execution of the tests; otherwise the tests take a long time.
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#
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# Note: While it is possible to run the Python script to generate the .cc files
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# as part of the build, it introduces an undesirable build-time Python
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# dependency that we'd prefer to avoid.
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[cc_test(
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name = test_filename.split("/")[-1][:-3], # Remove .cc.
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timeout = "moderate",
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srcs = [test_filename],
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copts = TEST_COPTS,
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# This is the data set that is bundled for the testing.
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data = [":data/problem-16-22106-pre.txt"],
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deps = TEST_DEPS,
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) for test_filename in glob([
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"internal/ceres/generated_bundle_adjustment_tests/*_test.cc",
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])]
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# Build the benchmarks.
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[cc_binary(
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name = benchmark_name,
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srcs = ["internal/ceres/" + benchmark_name + ".cc"],
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copts = TEST_COPTS,
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deps = TEST_DEPS + ["@com_github_google_benchmark//:benchmark"],
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) for benchmark_name in [
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"autodiff_cost_function_benchmark",
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"small_blas_gemm_benchmark",
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"small_blas_gemv_benchmark",
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]]

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