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# Ceres Solver - A fast non-linear least squares minimizer
# Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
# http://code.google.com/p/ceres-solver/
#
# 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)
SET(CERES_INTERNAL_SRC
array_utils.cc
blas.cc
block_evaluate_preparer.cc
block_jacobi_preconditioner.cc
block_jacobian_writer.cc
block_random_access_dense_matrix.cc
block_random_access_diagonal_matrix.cc
block_random_access_matrix.cc
block_random_access_sparse_matrix.cc
block_sparse_matrix.cc
block_structure.cc
c_api.cc
canonical_views_clustering.cc
cgnr_solver.cc
callbacks.cc
compressed_col_sparse_matrix_utils.cc
compressed_row_jacobian_writer.cc
compressed_row_sparse_matrix.cc
conditioned_cost_function.cc
conjugate_gradients_solver.cc
coordinate_descent_minimizer.cc
corrector.cc
covariance.cc
covariance_impl.cc
cxsparse.cc
dense_normal_cholesky_solver.cc
dense_qr_solver.cc
dense_sparse_matrix.cc
detect_structure.cc
dogleg_strategy.cc
dynamic_compressed_row_jacobian_writer.cc
dynamic_compressed_row_sparse_matrix.cc
evaluator.cc
file.cc
gradient_checking_cost_function.cc
gradient_problem.cc
gradient_problem_solver.cc
implicit_schur_complement.cc
iterative_schur_complement_solver.cc
levenberg_marquardt_strategy.cc
lapack.cc
line_search.cc
line_search_direction.cc
line_search_minimizer.cc
line_search_preprocessor.cc
linear_least_squares_problems.cc
linear_operator.cc
linear_solver.cc
local_parameterization.cc
loss_function.cc
low_rank_inverse_hessian.cc
minimizer.cc
normal_prior.cc
parameter_block_ordering.cc
partitioned_matrix_view.cc
polynomial.cc
preconditioner.cc
preprocessor.cc
problem.cc
problem_impl.cc
program.cc
reorder_program.cc
residual_block.cc
residual_block_utils.cc
schur_complement_solver.cc
schur_eliminator.cc
schur_jacobi_preconditioner.cc
scratch_evaluate_preparer.cc
single_linkage_clustering.cc
solver.cc
solver_utils.cc
sparse_matrix.cc
sparse_normal_cholesky_solver.cc
split.cc
stringprintf.cc
suitesparse.cc
triplet_sparse_matrix.cc
trust_region_preprocessor.cc
trust_region_minimizer.cc
trust_region_strategy.cc
types.cc
visibility.cc
visibility_based_preconditioner.cc
wall_time.cc
)
# Heuristic for determining LIB_SUFFIX. FHS recommends that 64-bit systems
# install native libraries to lib64 rather than lib. Most distros seem to
# follow this convention with a couple notable exceptions (Debian-based and
# Arch-based distros) which we try to detect here.
IF (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
NOT DEFINED LIB_SUFFIX AND
NOT CMAKE_CROSSCOMPILING AND
CMAKE_SIZEOF_VOID_P EQUAL "8" AND
NOT EXISTS "/etc/debian_version" AND
NOT EXISTS "/etc/arch-release")
SET(LIB_SUFFIX "64")
ENDIF ()
# Also depend on the header files so that they appear in IDEs.
FILE(GLOB CERES_INTERNAL_HDRS *.h)
# Include the specialized schur solvers.
IF (SCHUR_SPECIALIZATIONS)
FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/*.cc)
ELSE (SCHUR_SPECIALIZATIONS)
# Only the fully dynamic solver. The build is much faster this way.
FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/*_d_d_d.cc)
ENDIF (SCHUR_SPECIALIZATIONS)
# Build the list of dependencies for Ceres based on the current configuration.
IF (NOT MINIGLOG AND GLOG_FOUND)
LIST(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GLOG_LIBRARIES})
ENDIF (NOT MINIGLOG AND GLOG_FOUND)
IF (SUITESPARSE AND SUITESPARSE_FOUND)
LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${SUITESPARSE_LIBRARIES})
ENDIF (SUITESPARSE AND SUITESPARSE_FOUND)
IF (CXSPARSE AND CXSPARSE_FOUND)
LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CXSPARSE_LIBRARIES})
ENDIF (CXSPARSE AND CXSPARSE_FOUND)
IF (BLAS_FOUND AND LAPACK_FOUND)
LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${LAPACK_LIBRARIES})
LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${BLAS_LIBRARIES})
ENDIF (BLAS_FOUND AND LAPACK_FOUND)
IF (OPENMP_FOUND)
IF (NOT MSVC)
LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES gomp)
LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CMAKE_THREAD_LIBS_INIT})
ENDIF (NOT MSVC)
ENDIF (OPENMP_FOUND)
SET(CERES_LIBRARY_SOURCE
${CERES_INTERNAL_SRC}
${CERES_INTERNAL_HDRS}
${CERES_INTERNAL_SCHUR_FILES})
# Primarily for Android, but optionally for others, compile the minimal
# glog implementation into Ceres.
IF (MINIGLOG)
LIST(APPEND CERES_LIBRARY_SOURCE miniglog/glog/logging.cc)
ENDIF (MINIGLOG)
ADD_LIBRARY(ceres ${CERES_LIBRARY_SOURCE})
SET_TARGET_PROPERTIES(ceres PROPERTIES
VERSION ${CERES_VERSION}
SOVERSION ${CERES_VERSION_MAJOR}
)
IF (BUILD_SHARED_LIBS)
# When building a shared library, mark all external libraries as
# PRIVATE so they don't show up as a dependency.
TARGET_LINK_LIBRARIES(ceres
LINK_PUBLIC ${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
LINK_PRIVATE ${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
ELSE (BUILD_SHARED_LIBS)
# When building a static library, all external libraries are
# PUBLIC(default) since the user needs to link to them.
# They will be listed in CeresTargets.cmake.
SET(CERES_LIBRARY_DEPENDENCIES
${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
TARGET_LINK_LIBRARIES(ceres ${CERES_LIBRARY_DEPENDENCIES})
ENDIF (BUILD_SHARED_LIBS)
INSTALL(TARGETS ceres
EXPORT CeresExport
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
IF (BUILD_TESTING AND GFLAGS)
# The CERES_GFLAGS_NAMESPACE compile definition is NOT stored in
# CERES_COMPILE_OPTIONS (and thus config.h) as Ceres itself does not
# require gflags, only the tests and examples do.
ADD_DEFINITIONS(-DCERES_GFLAGS_NAMESPACE=${GFLAGS_NAMESPACE})
ADD_LIBRARY(gtest gmock_gtest_all.cc gmock_main.cc)
ADD_LIBRARY(test_util
evaluator_test_utils.cc
numeric_diff_test_utils.cc
test_util.cc)
IF (MINIGLOG)
# When using miniglog, it is compiled into Ceres, thus Ceres becomes
# the library against which other libraries should link for logging.
TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIBRARIES} ceres)
TARGET_LINK_LIBRARIES(test_util ceres gtest)
ELSE (MINIGLOG)
TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIBRARIES} ${GLOG_LIBRARIES})
TARGET_LINK_LIBRARIES(test_util ceres gtest ${GLOG_LIBRARIES})
ENDIF (MINIGLOG)
MACRO (CERES_TEST NAME)
ADD_EXECUTABLE(${NAME}_test ${NAME}_test.cc)
TARGET_LINK_LIBRARIES(${NAME}_test test_util ceres gtest)
ADD_TEST(NAME ${NAME}_test
COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${NAME}_test
--test_srcdir
${CMAKE_SOURCE_DIR}/data)
ENDMACRO (CERES_TEST)
CERES_TEST(array_utils)
CERES_TEST(autodiff)
CERES_TEST(autodiff_cost_function)
CERES_TEST(autodiff_local_parameterization)
CERES_TEST(block_jacobi_preconditioner)
CERES_TEST(block_random_access_dense_matrix)
CERES_TEST(block_random_access_diagonal_matrix)
CERES_TEST(block_random_access_sparse_matrix)
CERES_TEST(block_sparse_matrix)
CERES_TEST(c_api)
CERES_TEST(canonical_views_clustering)
CERES_TEST(compressed_row_sparse_matrix)
CERES_TEST(conditioned_cost_function)
CERES_TEST(corrector)
CERES_TEST(cost_function_to_functor)
CERES_TEST(covariance)
CERES_TEST(dense_sparse_matrix)
CERES_TEST(dynamic_autodiff_cost_function)
CERES_TEST(dynamic_compressed_row_sparse_matrix)
CERES_TEST(dynamic_numeric_diff_cost_function)
CERES_TEST(evaluator)
CERES_TEST(gradient_checker)
CERES_TEST(gradient_checking_cost_function)
CERES_TEST(graph)
CERES_TEST(graph_algorithms)
CERES_TEST(implicit_schur_complement)
CERES_TEST(iterative_schur_complement_solver)
CERES_TEST(jet)
CERES_TEST(levenberg_marquardt_strategy)
CERES_TEST(dogleg_strategy)
CERES_TEST(line_search_preprocessor)
CERES_TEST(local_parameterization)
CERES_TEST(loss_function)
CERES_TEST(minimizer)
CERES_TEST(normal_prior)
CERES_TEST(numeric_diff_cost_function)
CERES_TEST(ordered_groups)
CERES_TEST(parameter_block)
CERES_TEST(parameter_block_ordering)
CERES_TEST(partitioned_matrix_view)
CERES_TEST(polynomial)
CERES_TEST(problem)
CERES_TEST(program)
CERES_TEST(reorder_program)
CERES_TEST(residual_block)
CERES_TEST(residual_block_utils)
CERES_TEST(rotation)
CERES_TEST(schur_complement_solver)
CERES_TEST(schur_eliminator)
CERES_TEST(single_linkage_clustering)
CERES_TEST(small_blas)
CERES_TEST(solver)
# TODO(sameeragarwal): This test should ultimately be made
# independent of SuiteSparse.
IF (SUITESPARSE AND SUITESPARSE_FOUND)
CERES_TEST(compressed_col_sparse_matrix_utils)
ENDIF (SUITESPARSE AND SUITESPARSE_FOUND)
CERES_TEST(symmetric_linear_solver)
CERES_TEST(triplet_sparse_matrix)
CERES_TEST(trust_region_minimizer)
CERES_TEST(trust_region_preprocessor)
CERES_TEST(unsymmetric_linear_solver)
CERES_TEST(visibility)
CERES_TEST(visibility_based_preconditioner)
# Put the large end to end test last.
CERES_TEST(system)
ENDIF (BUILD_TESTING AND GFLAGS)