| # Ceres Solver - A fast non-linear least squares minimizer |
| # Copyright 2015 Google Inc. All rights reserved. |
| # http://ceres-solver.org/ |
| # |
| # Redistribution and use in source and binary forms, with or without |
| # modification, are permitted provided that the following conditions are met: |
| # |
| # * Redistributions of source code must retain the above copyright notice, |
| # this list of conditions and the following disclaimer. |
| # * Redistributions in binary form must reproduce the above copyright notice, |
| # this list of conditions and the following disclaimer in the documentation |
| # and/or other materials provided with the distribution. |
| # * Neither the name of Google Inc. nor the names of its contributors may be |
| # used to endorse or promote products derived from this software without |
| # specific prior written permission. |
| # |
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| # POSSIBILITY OF SUCH DAMAGE. |
| # |
| # Author: keir@google.com (Keir Mierle) |
| # |
| # This is an example Makefile for using Ceres. In practice, the Ceres authors |
| # suggest using CMake instead, but if Make is needed for some reason, this |
| # example serves to make it easy to do so. |
| |
| # This should point to place where you unpacked or cloned Ceres. |
| CERES_SRC_DIR := /home/keir/wrk/ceres-extra |
| |
| # This should point to the place where you built Ceres. If you got Ceres by |
| # installing it, then this will likely be /usr/local/lib. |
| CERES_BIN_DIR := /home/keir/wrk/ceres-extra-bin |
| |
| # The place you unpacked or cloned Eigen. If Eigen was installed from packages, |
| # this will likely be /usr/local/include. |
| EIGEN_SRC_DIR := /home/keir/src/eigen-3.0.5 |
| |
| INCLUDES := -I$(CERES_SRC_DIR)/include \ |
| -I$(EIGEN_SRC_DIR) |
| |
| CERES_LIBRARY := -lceres |
| CERES_LIBRARY_PATH := -L$(CERES_BIN_DIR)/lib |
| CERES_LIBRARY_DEPENDENCIES = -lgflags -lglog |
| |
| # If Ceres was built with Suitesparse: |
| CERES_LIBRARY_DEPENDENCIES += -llapack -lcamd -lamd -lccolamd -lcolamd -lcholmod |
| |
| # If Ceres was built with CXSparse: |
| CERES_LIBRARY_DEPENDENCIES += -lcxsparse |
| |
| # If Ceres was built with OpenMP: |
| CERES_LIBRARY_DEPENDENCIES += -fopenmp -lpthread -lgomp -lm |
| |
| # The set of object files for your application. |
| APPLICATION_OBJS := simple_bundle_adjuster.o |
| |
| all: simple_bundle_adjuster |
| |
| simple_bundle_adjuster: $(APPLICATION_OBJS) |
| g++ \ |
| $(APPLICATION_OBJS) \ |
| $(CERES_LIBRARY_PATH) \ |
| $(CERES_LIBRARY) \ |
| $(CERES_LIBRARY_DEPENDENCIES) \ |
| -o simple_bundle_adjuster |
| |
| # Disabling debug asserts via -DNDEBUG helps make Eigen faster, at the cost of |
| # not getting handy assert failures when there are issues in your code. |
| CFLAGS := -O2 -DNDEBUG |
| |
| # If you have files ending in .cpp instead of .cc, fix the next line |
| # appropriately. |
| %.o: %.cc $(DEPS) |
| g++ -c -o $@ $< $(CFLAGS) $(INCLUDES) |