| # 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: settinger@google.com (Scott Ettinger) |
| # keir@google.com (Keir Mierle) |
| # |
| # Builds Ceres for Android, using the standard toolchain (not |
| # standalone). It uses LLVM's libc++ as the standard library. It is a |
| # modern BSD licensed implementation of the standard c++ library. We |
| # do this to avoid any licensing issues that may arise from using |
| # GCC's libstdc++ which is licensed under GPL3. |
| # |
| # Building |
| # -------- |
| # |
| # You will have to specify the environment EIGEN_PATH to point to the |
| # Eigen sources when building. For example: |
| # |
| # EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j |
| # |
| # It is also possible to specify CERES_EXTRA_DEFINES, in case you need |
| # to pass more definitions to the C compiler. |
| # |
| # Using the library |
| # ----------------- |
| # Copy the static library: |
| # |
| # ../obj/local/armeabi-v7a/libceres.a |
| # |
| # into your own project, then link it into your binary in your |
| # Android.mk file. |
| # |
| # Reducing binary size |
| # -------------------- |
| # This build includes the Schur specializations, which increase the |
| # size of the binary. If you don't need them for your application, |
| # consider adding: |
| # |
| # -DCERES_RESTRICT_SCHUR_SPECIALIZATION |
| # |
| # to the LOCAL_CFLAGS variable below. |
| # |
| # Changing the logging library |
| # ---------------------------- |
| # Ceres Solver ships with a replacement for glog that provides a |
| # simple and small implementation that builds on Android. However, if |
| # you wish to supply a header only version yourself, then you may |
| # define CERES_GLOG_DIR to point to it. |
| |
| LOCAL_PATH := $(call my-dir) |
| |
| # Ceres requires at least NDK version r9d to compile. |
| ifneq ($(shell $(LOCAL_PATH)/assert_ndk_version.sh "r9d" $(NDK_ROOT)), true) |
| $(error Ceres requires NDK version r9d or greater) |
| endif |
| |
| EIGEN_PATH := $(EIGEN_PATH) |
| CERES_INCLUDE_PATHS := $(CERES_EXTRA_INCLUDES) |
| CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal |
| CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres |
| CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../include |
| CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../config |
| |
| # Use the alternate glog implementation if provided by the user. |
| ifdef CERES_GLOG_DIR |
| CERES_INCLUDE_PATHS += $(CERES_GLOG_DIR) |
| else |
| CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres/miniglog |
| endif |
| CERES_SRC_PATH := ../internal/ceres |
| |
| include $(CLEAR_VARS) |
| LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS) |
| LOCAL_C_INCLUDES += $(EIGEN_PATH) |
| |
| LOCAL_CPP_EXTENSION := .cc |
| LOCAL_CFLAGS := $(CERES_EXTRA_DEFINES) \ |
| -DCERES_NO_LAPACK \ |
| -DCERES_NO_SUITESPARSE \ |
| -DCERES_NO_CXSPARSE \ |
| -DCERES_STD_UNORDERED_MAP |
| |
| |
| # If the user did not enable threads in CERES_EXTRA_DEFINES, then add |
| # CERES_NO_THREADS. |
| # |
| # TODO(sameeragarwal): Update comments here and in the docs to |
| # demonstrate how OpenMP can be used by the user. |
| ifeq (,$(findstring CERES_HAVE_PTHREAD, $(LOCAL_CFLAGS))) |
| LOCAL_CFLAGS += -DCERES_NO_THREADS |
| endif |
| |
| LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \ |
| $(CERES_SRC_PATH)/blas.cc \ |
| $(CERES_SRC_PATH)/block_evaluate_preparer.cc \ |
| $(CERES_SRC_PATH)/block_jacobian_writer.cc \ |
| $(CERES_SRC_PATH)/block_jacobi_preconditioner.cc \ |
| $(CERES_SRC_PATH)/block_random_access_dense_matrix.cc \ |
| $(CERES_SRC_PATH)/block_random_access_diagonal_matrix.cc \ |
| $(CERES_SRC_PATH)/block_random_access_matrix.cc \ |
| $(CERES_SRC_PATH)/block_random_access_sparse_matrix.cc \ |
| $(CERES_SRC_PATH)/block_sparse_matrix.cc \ |
| $(CERES_SRC_PATH)/block_structure.cc \ |
| $(CERES_SRC_PATH)/callbacks.cc \ |
| $(CERES_SRC_PATH)/canonical_views_clustering.cc \ |
| $(CERES_SRC_PATH)/cgnr_solver.cc \ |
| $(CERES_SRC_PATH)/compressed_row_jacobian_writer.cc \ |
| $(CERES_SRC_PATH)/compressed_row_sparse_matrix.cc \ |
| $(CERES_SRC_PATH)/conditioned_cost_function.cc \ |
| $(CERES_SRC_PATH)/conjugate_gradients_solver.cc \ |
| $(CERES_SRC_PATH)/coordinate_descent_minimizer.cc \ |
| $(CERES_SRC_PATH)/corrector.cc \ |
| $(CERES_SRC_PATH)/covariance.cc \ |
| $(CERES_SRC_PATH)/covariance_impl.cc \ |
| $(CERES_SRC_PATH)/dense_normal_cholesky_solver.cc \ |
| $(CERES_SRC_PATH)/dense_qr_solver.cc \ |
| $(CERES_SRC_PATH)/dense_sparse_matrix.cc \ |
| $(CERES_SRC_PATH)/detect_structure.cc \ |
| $(CERES_SRC_PATH)/dogleg_strategy.cc \ |
| $(CERES_SRC_PATH)/dynamic_compressed_row_jacobian_writer.cc \ |
| $(CERES_SRC_PATH)/dynamic_compressed_row_sparse_matrix.cc \ |
| $(CERES_SRC_PATH)/dynamic_sparse_normal_cholesky_solver.cc \ |
| $(CERES_SRC_PATH)/eigensparse.cc \ |
| $(CERES_SRC_PATH)/evaluator.cc \ |
| $(CERES_SRC_PATH)/file.cc \ |
| $(CERES_SRC_PATH)/function_sample.cc \ |
| $(CERES_SRC_PATH)/gradient_checker.cc \ |
| $(CERES_SRC_PATH)/gradient_checking_cost_function.cc \ |
| $(CERES_SRC_PATH)/gradient_problem.cc \ |
| $(CERES_SRC_PATH)/gradient_problem_solver.cc \ |
| $(CERES_SRC_PATH)/is_close.cc \ |
| $(CERES_SRC_PATH)/implicit_schur_complement.cc \ |
| $(CERES_SRC_PATH)/inner_product_computer.cc \ |
| $(CERES_SRC_PATH)/iterative_schur_complement_solver.cc \ |
| $(CERES_SRC_PATH)/lapack.cc \ |
| $(CERES_SRC_PATH)/levenberg_marquardt_strategy.cc \ |
| $(CERES_SRC_PATH)/line_search.cc \ |
| $(CERES_SRC_PATH)/line_search_direction.cc \ |
| $(CERES_SRC_PATH)/line_search_minimizer.cc \ |
| $(CERES_SRC_PATH)/linear_least_squares_problems.cc \ |
| $(CERES_SRC_PATH)/linear_operator.cc \ |
| $(CERES_SRC_PATH)/line_search_preprocessor.cc \ |
| $(CERES_SRC_PATH)/linear_solver.cc \ |
| $(CERES_SRC_PATH)/local_parameterization.cc \ |
| $(CERES_SRC_PATH)/loss_function.cc \ |
| $(CERES_SRC_PATH)/low_rank_inverse_hessian.cc \ |
| $(CERES_SRC_PATH)/minimizer.cc \ |
| $(CERES_SRC_PATH)/normal_prior.cc \ |
| $(CERES_SRC_PATH)/parameter_block_ordering.cc \ |
| $(CERES_SRC_PATH)/partitioned_matrix_view.cc \ |
| $(CERES_SRC_PATH)/polynomial.cc \ |
| $(CERES_SRC_PATH)/preconditioner.cc \ |
| $(CERES_SRC_PATH)/preprocessor.cc \ |
| $(CERES_SRC_PATH)/problem.cc \ |
| $(CERES_SRC_PATH)/problem_impl.cc \ |
| $(CERES_SRC_PATH)/program.cc \ |
| $(CERES_SRC_PATH)/reorder_program.cc \ |
| $(CERES_SRC_PATH)/residual_block.cc \ |
| $(CERES_SRC_PATH)/residual_block_utils.cc \ |
| $(CERES_SRC_PATH)/schur_complement_solver.cc \ |
| $(CERES_SRC_PATH)/schur_eliminator.cc \ |
| $(CERES_SRC_PATH)/schur_jacobi_preconditioner.cc \ |
| $(CERES_SRC_PATH)/schur_templates.cc \ |
| $(CERES_SRC_PATH)/scratch_evaluate_preparer.cc \ |
| $(CERES_SRC_PATH)/single_linkage_clustering.cc \ |
| $(CERES_SRC_PATH)/solver.cc \ |
| $(CERES_SRC_PATH)/solver_utils.cc \ |
| $(CERES_SRC_PATH)/sparse_cholesky.cc \ |
| $(CERES_SRC_PATH)/sparse_matrix.cc \ |
| $(CERES_SRC_PATH)/sparse_normal_cholesky_solver.cc \ |
| $(CERES_SRC_PATH)/split.cc \ |
| $(CERES_SRC_PATH)/stringprintf.cc \ |
| $(CERES_SRC_PATH)/suitesparse.cc \ |
| $(CERES_SRC_PATH)/triplet_sparse_matrix.cc \ |
| $(CERES_SRC_PATH)/trust_region_minimizer.cc \ |
| $(CERES_SRC_PATH)/trust_region_preprocessor.cc \ |
| $(CERES_SRC_PATH)/trust_region_step_evaluator.cc \ |
| $(CERES_SRC_PATH)/trust_region_strategy.cc \ |
| $(CERES_SRC_PATH)/types.cc \ |
| $(CERES_SRC_PATH)/visibility_based_preconditioner.cc \ |
| $(CERES_SRC_PATH)/visibility.cc \ |
| $(CERES_SRC_PATH)/wall_time.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_d_d_d.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_2.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_3.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_4.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_6.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_4.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_8.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_9.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_d.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_2_d_d.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_2.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_3.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_4.cc \ |
| $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_d.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_d_d_d.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_2.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_3.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_4.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_d.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_3.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_4.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_6.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_9.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_d.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_3.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_4.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_8.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_9.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_d.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_d_d.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_2.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_3.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_4.cc \ |
| $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_d.cc |
| |
| ifndef CERES_GLOG_DIR |
| LOCAL_SRC_FILES += $(CERES_SRC_PATH)/miniglog/glog/logging.cc |
| endif |
| |
| LOCAL_MODULE := ceres |
| include $(BUILD_STATIC_LIBRARY) |
