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# 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)
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 ${GLOG_LIBRARIES})
endif (NOT MINIGLOG AND GLOG_FOUND)
if (SUITESPARSE AND SUITESPARSE_FOUND)
# Define version information for use in Solver::FullReport.
add_definitions(-DCERES_SUITESPARSE_VERSION="${SUITESPARSE_VERSION}")
list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${SUITESPARSE_LIBRARIES})
endif (SUITESPARSE AND SUITESPARSE_FOUND)
if (CXSPARSE AND CXSPARSE_FOUND)
# Define version information for use in Solver::FullReport.
add_definitions(-DCERES_CXSPARSE_VERSION="${CXSPARSE_VERSION}")
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})
include(AppendTargetProperty)
# Always build position-independent code (PIC), even when building Ceres as a
# static library so that shared libraries can link against it, not just
# executables (PIC does not apply on Windows).
if (NOT WIN32 AND NOT BUILD_SHARED_LIBS)
# Use the explicit POSITION_INDEPENDENT_CODE target property on CMake versions
# that support it (>= 2.8.9). Otherwise, manually add the -fPIC flag as an
# additional compile definitions for the target.
if (CMAKE_VERSION VERSION_LESS "2.8.9")
append_target_property(ceres COMPILE_FLAGS "-fPIC")
else()
# Use set_target_properties() not append_target_property() here as
# POSITION_INDEPENDENT_CODE is a binary ON/OFF switch.
set_target_properties(ceres PROPERTIES POSITION_INDEPENDENT_CODE ON)
endif()
endif()
if (CMAKE_VERSION VERSION_LESS "2.8.12")
# CMake version < 2.8.12 does not support target_compile_options(), warn
# user that they will have to add compile flags to their own projects
# manually if required.
if (CXX11 AND COMPILER_HAS_CXX11_FLAG)
message("-- Warning: Detected CMake version: ${CMAKE_VERSION} < 2.8.12, "
"which is the minimum required for compile options to be included in an "
"exported CMake target, but CERES_USE_CXX11 is enabled and the detected. "
"compiler requires -std=c++11. The client is responsible for adding "
"-std=c++11 when using Ceres.")
endif()
else()
# CMake version >= 2.8.12 supports target_compile_options().
if (CXX11 AND COMPILER_HAS_CXX11_FLAG)
# If Ceres is compiled using C++11, and the compiler requires -std=c++11
# to be set, then ensure that this requirement is rolled into the exported
# CMake target, such that client code which uses Ceres will inherit it (if
# the CMake version supports it), iff they are NOT compiling for C. We
# check for not C, rather than C++ as LINKER_LANGUAGE is often NOTFOUND and
# then uses the default (C++).
target_compile_options(ceres PUBLIC
$<$<NOT:$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,C>>:-std=c++11>)
endif()
endif()
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)
if (BUILD_SHARED_LIBS)
# Define gtest-specific shared library flags for compilation.
append_target_property(gtest COMPILE_DEFINITIONS
GTEST_CREATE_SHARED_LIBRARY)
endif()
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)
if (BUILD_SHARED_LIBS)
# Define gtest-specific shared library flags for linking.
append_target_property(${NAME}_test COMPILE_DEFINITIONS
GTEST_LINKED_AS_SHARED_LIBRARY)
endif()
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(bundle_adjustment)
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(cubic_interpolation)
ceres_test(detect_structure)
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(gradient_problem)
ceres_test(gradient_problem_solver)
ceres_test(graph)
ceres_test(graph_algorithms)
ceres_test(householder_vector)
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)
target_link_libraries(compressed_col_sparse_matrix_utils_test
${SUITESPARSE_LIBRARIES})
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)