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.

.gitignore

@@ -1 +1,2 @@
 build
+bazel-*

BUILD.bazel

@@ -0,0 +1,28 @@
+# 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.
+
+# Cartographer is a system that provides real-time simultaneous localization
+# and mapping (SLAM) in 2D and 3D across multiple platforms and sensor
+# configurations.
+
+package(default_visibility = ["//visibility:public"])
+
+exports_files(["LICENSE"])
+
+filegroup(
+    name = "configuration_files",
+    srcs = glob([
+        "configuration_files/*.lua",
+    ]),
+)

WORKSPACE

@@ -0,0 +1,25 @@
+# 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.
+
+workspace(name = "com_github_googlecartographer_cartographer")
+
+load("//:bazel/repositories.bzl", "cartographer_repositories")
+
+cartographer_repositories()
+
+# This can't be inside cartographer_repositories() because of:
+# https://github.com/bazelbuild/bazel/issues/1550
+load("@com_github_nelhage_boost//:boost/boost.bzl", "boost_deps")
+
+boost_deps()

bazel/repositories.bzl

@@ -0,0 +1,213 @@
+# 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.
+
+"""External dependencies for Cartographer."""
+
+def cartographer_repositories():
+  _maybe(native.http_archive,
+      name = "com_github_nelhage_boost",
+      sha256 = "5c88fc077f6b8111e997fec5146e5f9940ae9a2016eb9949447fcb4b482bcdb3",
+      strip_prefix = "rules_boost-7289bb1d8f938fdf98078297768c122ee9e11c9e",
+      urls = [
+          "https://mirror.bazel.build/github.com/nelhage/rules_boost/archive/7289bb1d8f938fdf98078297768c122ee9e11c9e.tar.gz",
+          "https://github.com/nelhage/rules_boost/archive/7289bb1d8f938fdf98078297768c122ee9e11c9e.tar.gz",
+      ],
+  )
+
+  _maybe(native.http_archive,
+      name = "com_github_antonovvk_bazel_rules",
+      sha256 = "ba75b07d3fd297375a6688e9a16583eb616e7a74b3d5e8791e7a222cf36ab26e",
+      strip_prefix = "bazel_rules-98ddd7e4f7c63ea0868f08bcc228463dac2f9f12",
+      urls = [
+          "https://mirror.bazel.build/github.com/antonovvk/bazel_rules/archive/98ddd7e4f7c63ea0868f08bcc228463dac2f9f12.tar.gz",
+          "https://github.com/antonovvk/bazel_rules/archive/98ddd7e4f7c63ea0868f08bcc228463dac2f9f12.tar.gz",
+      ],
+  )
+
+  _maybe(native.http_archive,
+      name = "com_github_gflags_gflags",
+      sha256 = "6e16c8bc91b1310a44f3965e616383dbda48f83e8c1eaa2370a215057b00cabe",
+      strip_prefix = "gflags-77592648e3f3be87d6c7123eb81cbad75f9aef5a",
+      urls = [
+          "https://mirror.bazel.build/github.com/gflags/gflags/archive/77592648e3f3be87d6c7123eb81cbad75f9aef5a.tar.gz",
+          "https://github.com/gflags/gflags/archive/77592648e3f3be87d6c7123eb81cbad75f9aef5a.tar.gz",
+      ],
+  )
+
+  _maybe(native.http_archive,
+      name = "com_google_glog",
+      sha256 = "1ee310e5d0a19b9d584a855000434bb724aa744745d5b8ab1855c85bff8a8e21",
+      strip_prefix = "glog-028d37889a1e80e8a07da1b8945ac706259e5fd8",
+      urls = [
+          "https://mirror.bazel.build/github.com/google/glog/archive/028d37889a1e80e8a07da1b8945ac706259e5fd8.tar.gz",
+          "https://github.com/google/glog/archive/028d37889a1e80e8a07da1b8945ac706259e5fd8.tar.gz",
+      ],
+  )
+
+  _maybe(native.new_http_archive,
+      name = "net_zlib_zlib",
+      build_file = "//bazel/third_party:zlib.BUILD",
+      sha256 = "6d4d6640ca3121620995ee255945161821218752b551a1a180f4215f7d124d45",
+      strip_prefix = "zlib-cacf7f1d4e3d44d871b605da3b647f07d718623f",
+      urls = [
+          "https://mirror.bazel.build/github.com/madler/zlib/archive/cacf7f1d4e3d44d871b605da3b647f07d718623f.tar.gz",
+          "https://github.com/madler/zlib/archive/cacf7f1d4e3d44d871b605da3b647f07d718623f.tar.gz",
+      ],
+  )
+
+  _maybe(native.new_http_archive,
+      name = "org_cairographics_pixman",
+      build_file = "//bazel/third_party/pixman:pixman.BUILD",
+      sha256 = "21b6b249b51c6800dc9553b65106e1e37d0e25df942c90531d4c3997aa20a88e",
+      strip_prefix = "pixman-0.34.0",
+      urls = [
+          "https://mirror.bazel.build/www.cairographics.org/releases/pixman-0.34.0.tar.gz",
+          "https://www.cairographics.org/releases/pixman-0.34.0.tar.gz",
+      ],
+  )
+
+  _maybe(native.new_http_archive,
+      name = "org_cairographics_cairo",
+      build_file = "//bazel/third_party/cairo:cairo.BUILD",
+      sha256 = "7e87878658f2c9951a14fc64114d4958c0e65ac47530b8ac3078b2ce41b66a09",
+      strip_prefix = "cairo-1.14.10",
+      urls = [
+          "https://mirror.bazel.build/www.cairographics.org/releases/cairo-1.14.10.tar.xz",
+          "https://www.cairographics.org/releases/cairo-1.14.10.tar.xz",
+      ],
+  )
+
+  _maybe(native.new_http_archive,
+      name = "org_freetype_freetype2",
+      build_file = "//bazel/third_party:freetype2.BUILD",
+      sha256 = "33a28fabac471891d0523033e99c0005b95e5618dc8ffa7fa47f9dadcacb1c9b",
+      strip_prefix = "freetype-2.8",
+      urls = [
+          "https://mirror.bazel.build/download.savannah.gnu.org/releases/freetype/freetype-2.8.tar.gz",
+          "http://download.savannah.gnu.org/releases/freetype/freetype-2.8.tar.gz",
+      ],
+  )
+
+  _maybe(native.new_http_archive,
+      name = "org_libgd_libgd",
+      build_file = "//bazel/third_party:gd.BUILD",
+      sha256 = "a66111c9b4a04e818e9e2a37d7ae8d4aae0939a100a36b0ffb52c706a09074b5",
+      strip_prefix = "libgd-2.2.5",
+      urls = [
+          "https://mirror.bazel.build/github.com/libgd/libgd/releases/download/gd-2.2.5/libgd-2.2.5.tar.gz",
+          "https://github.com/libgd/libgd/releases/download/gd-2.2.5/libgd-2.2.5.tar.gz",
+      ],
+  )
+
+  _maybe(native.new_http_archive,
+      name = "org_freedesktop_fontconfig",
+      build_file = "//bazel/third_party/fontconfig:fontconfig.BUILD",
+      sha256 = "fd5a6a663f4c4a00e196523902626654dd0c4a78686cbc6e472f338e50fdf806",
+      strip_prefix = "fontconfig-2.12.4",
+      urls = [
+          "https://mirror.bazel.build/www.freedesktop.org/software/fontconfig/release/fontconfig-2.12.4.tar.gz",
+          "https://www.freedesktop.org/software/fontconfig/release/fontconfig-2.12.4.tar.gz",
+      ],
+  )
+
+  _maybe(native.new_http_archive,
+      name = "org_ceres_solver_ceres_solver",
+      build_file = "//bazel/third_party:ceres.BUILD",
+      sha256 = "cb69d1ca4900bc9c4703116a9facba00413eafd893430659fab63246f5320288",
+      strip_prefix = "ceres-solver-f58eacf082ddf198b2bf982e3cdb57ed3b5ea025",
+      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",
+      ],
+  )
+
+  _maybe(native.new_http_archive,
+      name = "org_tuxfamily_eigen",
+      build_file = "//bazel/third_party:eigen.BUILD",
+      sha256 = "ca7beac153d4059c02c8fc59816c82d54ea47fe58365e8aded4082ded0b820c4",
+      strip_prefix = "eigen-eigen-f3a22f35b044",
+      urls = [
+          "http://mirror.bazel.build/bitbucket.org/eigen/eigen/get/f3a22f35b044.tar.gz",
+          "https://bitbucket.org/eigen/eigen/get/f3a22f35b044.tar.gz",
+      ],
+  )
+
+  _maybe(native.new_http_archive,
+      name = "com_github_libexpat_libexpat",
+      build_file = "//bazel/third_party:expat.BUILD",
+      sha256 = "b5dcb503e40f615a0296a18acc6d975f2f1a3d01c7b3a4b3bb69de27bc9475c3",
+      strip_prefix = "libexpat-R_2_2_4/expat",
+      urls = [
+          "https://mirror.bazel.build/github.com/libexpat/libexpat/archive/R_2_2_4.tar.gz",
+          "https://github.com/libexpat/libexpat/archive/R_2_2_4.tar.gz",
+      ],
+  )
+
+  _maybe(native.new_http_archive,
+      name = "libjpeg",
+      build_file = "//bazel/third_party:libjpeg.BUILD",
+      sha256 = "240fd398da741669bf3c90366f58452ea59041cacc741a489b99f2f6a0bad052",
+      strip_prefix = "jpeg-9b",
+      urls = [
+          "https://mirror.bazel.build/www.ijg.org/files/jpegsrc.v9b.tar.gz",
+          "http://www.ijg.org/files/jpegsrc.v9b.tar.gz",
+      ],
+  )
+
+  _maybe(native.new_http_archive,
+      name = "org_libpng_libpng",
+      build_file = "//bazel/third_party:libpng.BUILD",
+      sha256 = "7f415186d38ca71c23058386d7cf5135c8beda821ee1beecdc2a7a26c0356615",
+      strip_prefix = "libpng-1.2.57",
+      urls = [
+          "https://mirror.bazel.build/github.com/glennrp/libpng/archive/v1.2.57.tar.gz",
+          "https://github.com/glennrp/libpng/archive/v1.2.57.tar.gz",
+      ],
+  )
+
+  _maybe(native.http_archive,
+      name = "com_google_googletest",
+      sha256 = "c18f281fd6621bb264570b99860a0241939b4a251c9b1af709b811d33bc63af8",
+      strip_prefix = "googletest-e3bd4cbeaeef3cee65a68a8bd3c535cb779e9b6d",
+      urls = [
+          "https://mirror.bazel.build/github.com/google/googletest/archive/e3bd4cbeaeef3cee65a68a8bd3c535cb779e9b6d.tar.gz",
+          "https://github.com/google/googletest/archive/e3bd4cbeaeef3cee65a68a8bd3c535cb779e9b6d.tar.gz",
+      ],
+  )
+
+  _maybe(native.http_archive,
+      name = "com_google_protobuf",
+      sha256 = "0cc6607e2daa675101e9b7398a436f09167dffb8ca0489b0307ff7260498c13c",
+      strip_prefix = "protobuf-3.5.0",
+      urls = [
+          "https://mirror.bazel.build/github.com/google/protobuf/archive/v3.5.0.tar.gz",
+          "https://github.com/google/protobuf/archive/v3.5.0.tar.gz",
+      ],
+  )
+
+  _maybe(native.new_http_archive,
+      name = "org_lua_lua",
+      build_file = "//bazel/third_party:lua.BUILD",
+      sha256 = "b9e2e4aad6789b3b63a056d442f7b39f0ecfca3ae0f1fc0ae4e9614401b69f4b",
+      strip_prefix = "lua-5.2.4",
+      urls = [
+          "https://mirror.bazel.build/www.lua.org/ftp/lua-5.2.4.tar.gz",
+          "https://www.lua.org/ftp/lua-5.2.4.tar.gz",
+      ],
+  )
+
+
+def _maybe(repo_rule, name, **kwargs):
+  if name not in native.existing_rules():
+    repo_rule(name=name, **kwargs)

bazel/third_party/BUILD.bazel

@@ -0,0 +1,20 @@
+# 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.
+
+# Bazel build support for third-party packages.
+
+exports_files(
+    glob(["*.BUILD"]),
+    visibility = ["//visibility:public"],
+)

bazel/third_party/cairo/BUILD.bazel

@@ -0,0 +1,26 @@
+# 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.
+
+# Files required for building Cairo with Bazel.
+
+licenses(["notice"])
+
+exports_files(
+    [
+        "cairo.BUILD",
+        "config.h",
+        "cairo-features.h",
+    ],
+    visibility = ["//visibility:public"],
+)

bazel/third_party/cairo/cairo-features.h

@@ -0,0 +1,50 @@
+/*
+ * 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.
+ */
+
+#ifndef CAIRO_FEATURES_H
+#define CAIRO_FEATURES_H
+
+#define CAIRO_HAS_FC_FONT 1
+#define CAIRO_HAS_FT_FONT 1
+#define CAIRO_HAS_GOBJECT_FUNCTIONS 1
+#define CAIRO_HAS_IMAGE_SURFACE 1
+#define CAIRO_HAS_MIME_SURFACE 1
+#define CAIRO_HAS_OBSERVER_SURFACE 1
+#define CAIRO_HAS_PDF_SURFACE 1
+#define CAIRO_HAS_PNG_FUNCTIONS 1
+#define CAIRO_HAS_PS_SURFACE 1
+#define CAIRO_HAS_RECORDING_SURFACE 1
+#define CAIRO_HAS_SCRIPT_SURFACE 1
+#define CAIRO_HAS_SVG_SURFACE 1
+#define CAIRO_HAS_TEE_SURFACE 1
+#define CAIRO_HAS_USER_FONT 1
+
+#define CAIRO_HAS_GIF_FUNCTIONS 1
+#define CAIRO_HAS_JPEG_FUNCTIONS 1
+
+/*#undef CAIRO_HAS_EGL_FUNCTIONS */
+/*#undef CAIRO_HAS_GLX_FUNCTIONS */
+/*#undef CAIRO_HAS_QUARTZ_FONT */
+/*#undef CAIRO_HAS_QUARTZ_SURFACE */
+/*#undef CAIRO_HAS_WGL_FUNCTIONS */
+/*#undef CAIRO_HAS_WIN32_FONT */
+/*#undef CAIRO_HAS_WIN32_SURFACE */
+/*#undef CAIRO_HAS_XCB_SHM_FUNCTIONS */
+/*#undef CAIRO_HAS_XCB_SURFACE */
+/*#undef CAIRO_HAS_XLIB_SURFACE */
+/*#undef CAIRO_HAS_XLIB_XRENDER_SURFACE */
+
+#endif