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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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+# Support for building Ceres Solver with a specific configuration.
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+
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+CERES_SRCS = ["internal/ceres/" + filename for filename in [
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+ "array_utils.cc",
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+ "blas.cc",
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+ "block_evaluate_preparer.cc",
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+ "block_jacobian_writer.cc",
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+ "block_jacobi_preconditioner.cc",
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+ "block_random_access_dense_matrix.cc",
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+ "block_random_access_diagonal_matrix.cc",
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+ "block_random_access_matrix.cc",
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+ "block_random_access_sparse_matrix.cc",
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+ "block_sparse_matrix.cc",
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+ "block_structure.cc",
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+ "c_api.cc",
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+ "callbacks.cc",
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+ "canonical_views_clustering.cc",
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+ "cgnr_solver.cc",
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+ "compressed_col_sparse_matrix_utils.cc",
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+ "compressed_row_jacobian_writer.cc",
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+ "compressed_row_sparse_matrix.cc",
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+ "conditioned_cost_function.cc",
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+ "conjugate_gradients_solver.cc",
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+ "coordinate_descent_minimizer.cc",
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+ "corrector.cc",
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+ "covariance.cc",
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+ "covariance_impl.cc",
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+ "dense_normal_cholesky_solver.cc",
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+ "dense_qr_solver.cc",
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+ "dense_sparse_matrix.cc",
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+ "detect_structure.cc",
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+ "dogleg_strategy.cc",
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+ "dynamic_compressed_row_jacobian_writer.cc",
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+ "dynamic_compressed_row_sparse_matrix.cc",
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+ "dynamic_sparse_normal_cholesky_solver.cc",
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+ "eigensparse.cc",
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+ "evaluator.cc",
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+ "file.cc",
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+ "function_sample.cc",
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+ "gradient_checker.cc",
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+ "gradient_checking_cost_function.cc",
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+ "gradient_problem.cc",
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+ "gradient_problem_solver.cc",
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+ "is_close.cc",
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+ "implicit_schur_complement.cc",
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+ "inner_product_computer.cc",
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+ "iterative_schur_complement_solver.cc",
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+ "lapack.cc",
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+ "levenberg_marquardt_strategy.cc",
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+ "line_search.cc",
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+ "line_search_direction.cc",
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+ "line_search_minimizer.cc",
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+ "linear_least_squares_problems.cc",
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+ "linear_operator.cc",
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+ "line_search_preprocessor.cc",
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+ "linear_solver.cc",
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+ "local_parameterization.cc",
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+ "loss_function.cc",
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+ "low_rank_inverse_hessian.cc",
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+ "minimizer.cc",
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+ "normal_prior.cc",
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+ "parameter_block_ordering.cc",
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+ "partitioned_matrix_view.cc",
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+ "polynomial.cc",
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+ "preconditioner.cc",
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+ "preprocessor.cc",
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+ "problem.cc",
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+ "problem_impl.cc",
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+ "program.cc",
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+ "reorder_program.cc",
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+ "residual_block.cc",
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+ "residual_block_utils.cc",
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+ "schur_complement_solver.cc",
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+ "schur_eliminator.cc",
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+ "schur_jacobi_preconditioner.cc",
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+ "schur_templates.cc",
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+ "scratch_evaluate_preparer.cc",
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+ "single_linkage_clustering.cc",
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+ "solver.cc",
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+ "solver_utils.cc",
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+ "sparse_cholesky.cc",
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+ "sparse_matrix.cc",
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+ "sparse_normal_cholesky_solver.cc",
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+ "split.cc",
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+ "stringprintf.cc",
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+ "suitesparse.cc",
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+ "thread_token_provider.cc",
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+ "triplet_sparse_matrix.cc",
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+ "trust_region_minimizer.cc",
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+ "trust_region_preprocessor.cc",
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+ "trust_region_step_evaluator.cc",
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+ "trust_region_strategy.cc",
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+ "types.cc",
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+ "visibility_based_preconditioner.cc",
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+ "visibility.cc",
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+ "wall_time.cc",
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+ "generated/schur_eliminator_d_d_d.cc",
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+ "generated/schur_eliminator_2_2_2.cc",
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+ "generated/schur_eliminator_2_2_3.cc",
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+ "generated/schur_eliminator_2_2_4.cc",
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+ "generated/schur_eliminator_2_2_d.cc",
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+ "generated/schur_eliminator_2_3_3.cc",
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+ "generated/schur_eliminator_2_3_4.cc",
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+ "generated/schur_eliminator_2_3_6.cc",
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+ "generated/schur_eliminator_2_3_9.cc",
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+ "generated/schur_eliminator_2_3_d.cc",
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+ "generated/schur_eliminator_2_4_3.cc",
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+ "generated/schur_eliminator_2_4_4.cc",
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+ "generated/schur_eliminator_2_4_6.cc",
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+ "generated/schur_eliminator_2_4_8.cc",
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+ "generated/schur_eliminator_2_4_9.cc",
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+ "generated/schur_eliminator_2_4_d.cc",
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+ "generated/schur_eliminator_2_d_d.cc",
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+ "generated/schur_eliminator_4_4_2.cc",
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+ "generated/schur_eliminator_4_4_3.cc",
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+ "generated/schur_eliminator_4_4_4.cc",
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+ "generated/schur_eliminator_4_4_d.cc",
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+ "generated/partitioned_matrix_view_d_d_d.cc",
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+ "generated/partitioned_matrix_view_2_2_2.cc",
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+ "generated/partitioned_matrix_view_2_2_3.cc",
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+ "generated/partitioned_matrix_view_2_2_4.cc",
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+ "generated/partitioned_matrix_view_2_2_d.cc",
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+ "generated/partitioned_matrix_view_2_3_3.cc",
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+ "generated/partitioned_matrix_view_2_3_4.cc",
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+ "generated/partitioned_matrix_view_2_3_6.cc",
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+ "generated/partitioned_matrix_view_2_3_9.cc",
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+ "generated/partitioned_matrix_view_2_3_d.cc",
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+ "generated/partitioned_matrix_view_2_4_3.cc",
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+ "generated/partitioned_matrix_view_2_4_4.cc",
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+ "generated/partitioned_matrix_view_2_4_6.cc",
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+ "generated/partitioned_matrix_view_2_4_8.cc",
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+ "generated/partitioned_matrix_view_2_4_9.cc",
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+ "generated/partitioned_matrix_view_2_4_d.cc",
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+ "generated/partitioned_matrix_view_2_d_d.cc",
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+ "generated/partitioned_matrix_view_4_4_2.cc",
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+ "generated/partitioned_matrix_view_4_4_3.cc",
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+ "generated/partitioned_matrix_view_4_4_4.cc",
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+ "generated/partitioned_matrix_view_4_4_d.cc",
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+]]
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+
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+# TODO(rodrigoq): add support to configure Ceres into various permutations,
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+# like SuiteSparse or not, threading or not, glog or not, and so on.
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+# See https://github.com/ceres-solver/ceres-solver/issues/335.
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+def ceres_library(name):
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+ # The path to internal/ depends on whether Ceres is the main workspace or
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+ # an external repository.
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+ if native.repository_name() != '@':
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+ internal = 'external/%s/internal' % native.repository_name().lstrip('@')
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+ else:
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+ internal = 'internal'
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+
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+ native.cc_library(
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+ name = name,
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+
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+ # Internal sources, options, and dependencies.
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+ srcs = CERES_SRCS + native.glob([
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+ "include/ceres/internal/*.h",
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+ ]) + native.glob([
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+ "internal/ceres/*.h",
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+ ]),
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+
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+ # These headers are made available to other targets.
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+ hdrs =
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+ native.glob(["include/ceres/*.h"]) + native.glob([
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+ "include/ceres/internal/*.h",
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+ ]) +
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+
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+ # This is an empty config, since the Bazel-based build does not
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+ # generate a config.h from config.h.in. This is fine, since Bazel
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+ # properly handles propagating -D defines to dependent targets.
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+ native.glob([
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+ "config/ceres/internal/config.h",
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+ ]),
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+ copts = [
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+ "-I" + internal,
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+ "-Wno-sign-compare",
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+ ],
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+
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+ # These include directories and defines are propagated to other targets
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+ # depending on Ceres.
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+ # TODO(keir): These defines are placeholders for now to facilitate getting
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+ # started with a Bazel build. However, these should become configurable as
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+ # part of a Skylark Ceres target macro.
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+ defines = [
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+ "CERES_NO_SUITESPARSE",
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+ "CERES_NO_CXSPARSE",
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+ "CERES_NO_THREADS",
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+ "CERES_NO_LAPACK",
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+ "CERES_STD_UNORDERED_MAP",
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+ ],
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+ includes = [
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+ "config",
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+ "include",
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+ ],
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+ visibility = ["//visibility:public"],
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+ deps = [
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+ "@com_github_eigen_eigen//:eigen",
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+ "@com_github_google_glog//:glog",
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+ ],
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+ )
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Rodrigo Queiro