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.. _chapter-building:
=======================
Building & Installation
=======================
Getting the source code
=======================
.. _section-source:
You can start with the `latest stable release
<http://ceres-solver.org/ceres-solver-1.9.0.tar.gz>`_ . Or if you want
the latest version, you can clone the git repository
.. code-block:: bash
git clone https://ceres-solver.googlesource.com/ceres-solver
.. _section-dependencies:
Dependencies
============
Ceres relies on a number of open source libraries, some of which are
optional. For details on customizing the build process, see
:ref:`section-customizing` .
- `Eigen <http://eigen.tuxfamily.org/index.php?title=Main_Page>`_ 3.0 or later.
**Required**
- `CMake <http://www.cmake.org>`_ 2.8.0 or later.
**Required on all platforms except for Android.**
- `Google Log <http://code.google.com/p/google-glog>`_ 0.3.1 or
later. **Recommended**
Ceres has a minimal replacement of ``glog`` called ``miniglog``,
enabled with the ``MINIGLOG`` build option. ``miniglog`` replaces
the requirement for ``glog``. We advise using full ``glog`` due to
performance compromises in ``miniglog``. ``miniglog`` is needed on
Android.
- `Google Flags <http://code.google.com/p/gflags>`_. Needed to build
examples and tests.
- `SuiteSparse
<http://www.cise.ufl.edu/research/sparse/SuiteSparse/>`_. Needed for
analyzing and solving sparse systems. Ceres useses the AMD, CAMD,
COLAMD and CHOLMOD libraries.
**Optional; strongly recomended for bundle adjustment**
- `CXSparse <http://www.cise.ufl.edu/research/sparse/CXSparse/>`_.
Similar to ``SuiteSparse`` but simpler and slower. CXSparse has
no dependencies on ``LAPACK`` and ``BLAS``. This makes for a simpler
build process and a smaller binary. **Optional**
- `BLAS <http://www.netlib.org/blas/>`_ and `LAPACK
<http://www.netlib.org/lapack/>`_ routines are needed by
SuiteSparse, and optionally used by Ceres directly for some operations.
We recommend `ATLAS <http://math-atlas.sourceforge.net/>`_,
which includes BLAS and LAPACK routines. It is also possible to use
`OpenBLAS <https://github.com/xianyi/OpenBLAS>`_ . However, one needs
to be careful to `turn off the threading
<https://github.com/xianyi/OpenBLAS/wiki/faq#wiki-multi-threaded>`_
inside ``OpenBLAS`` as it conflicts with use of threads in Ceres.
**Optional but required for SuiteSparse**
.. _section-linux:
Building on Linux
=================
We will use `Ubuntu <http://www.ubuntu.com>`_ as our example
platform. Start by installing all the dependencies.
.. NOTE::
Up to at least Ubuntu 13.10, the SuiteSparse package in the official
package repository (built from SuiteSparse v3.4.0) **cannot** be used
to build Ceres as a *shared* library. Thus if you want to build
Ceres as a shared library using SuiteSparse, you must perform a
source install of SuiteSparse. It is recommended that you use the
current version of SuiteSparse (4.2.1 at the time of writing).
.. code-block:: bash
# CMake
sudo apt-get install cmake
# gflags
tar -xvzf gflags-2.0.tar.gz
cd gflags-2.0
./configure --prefix=/usr/local
make
sudo make install.
# google-glog must be configured to use the previously installed gflags
tar -xvzf glog-0.3.2.tar.gz
cd glog-0.3.2
./configure --with-gflags=/usr/local/
make
sudo make install
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
# - If you want to build Ceres as a *static* library (the default)
# you can use the SuiteSparse package in the main Ubuntu package
# repository:
sudo apt-get install libsuitesparse-dev
# - However, if you want to build Ceres as a *shared* library, you must
# perform a source install of SuiteSparse (and uninstall the Ubuntu
# package if it is currently installed.
We are now ready to build and test Ceres.
.. code-block:: bash
tar zxf ceres-solver-1.9.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-1.9.0
make -j3
make test
You can also try running the command line bundling application with one of the
included problems, which comes from the University of Washington's BAL
dataset [Agarwal]_.
.. code-block:: bash
bin/simple_bundle_adjuster ../ceres-solver-1.9.0/data/problem-16-22106-pre.txt
This runs Ceres for a maximum of 10 iterations using the
``DENSE_SCHUR`` linear solver. The output should look something like
this.
.. code-block:: bash
0: f: 4.185660e+06 d: 0.00e+00 g: 1.09e+08 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li: 0 it: 8.73e-02 tt: 2.61e-01
1: f: 1.062590e+05 d: 4.08e+06 g: 8.99e+06 h: 5.36e+02 rho: 9.82e-01 mu: 3.00e+04 li: 1 it: 1.85e-01 tt: 4.46e-01
2: f: 4.992817e+04 d: 5.63e+04 g: 8.32e+06 h: 3.19e+02 rho: 6.52e-01 mu: 3.09e+04 li: 1 it: 1.74e-01 tt: 6.20e-01
3: f: 1.899774e+04 d: 3.09e+04 g: 1.60e+06 h: 1.24e+02 rho: 9.77e-01 mu: 9.26e+04 li: 1 it: 1.74e-01 tt: 7.94e-01
4: f: 1.808729e+04 d: 9.10e+02 g: 3.97e+05 h: 6.39e+01 rho: 9.51e-01 mu: 2.78e+05 li: 1 it: 1.73e-01 tt: 9.67e-01
5: f: 1.803399e+04 d: 5.33e+01 g: 1.48e+04 h: 1.23e+01 rho: 9.99e-01 mu: 8.33e+05 li: 1 it: 1.75e-01 tt: 1.14e+00
6: f: 1.803390e+04 d: 9.02e-02 g: 6.35e+01 h: 8.00e-01 rho: 1.00e+00 mu: 2.50e+06 li: 1 it: 1.75e-01 tt: 1.32e+00
Ceres Solver Report
-------------------
Original Reduced
Parameter blocks 22122 22122
Parameters 66462 66462
Residual blocks 83718 83718
Residual 167436 167436
Minimizer TRUST_REGION
Dense linear algebra library EIGEN
Trust region strategy LEVENBERG_MARQUARDT
Given Used
Linear solver DENSE_SCHUR DENSE_SCHUR
Threads 1 1
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 22106, 16
Cost:
Initial 4.185660e+06
Final 1.803390e+04
Change 4.167626e+06
Minimizer iterations 6
Successful steps 6
Unsuccessful steps 0
Time (in seconds):
Preprocessor 0.173
Residual evaluation 0.115
Jacobian evaluation 0.498
Linear solver 0.517
Minimizer 1.242
Postprocessor 0.003
Total 1.437
Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769750e-09 <= 1.000000e-06)
.. section-osx:
Building on Mac OS X
====================
.. NOTE::
Ceres will not compile using Xcode 4.5.x (Clang version 4.1) due to a bug in that version of
Clang. If you are running Xcode 4.5.x, please update to Xcode >= 4.6.x before attempting to
build Ceres.
On OS X, we recommend using the `homebrew
<http://mxcl.github.com/homebrew/>`_ package manager to install Ceres.
.. code-block:: bash
brew install ceres-solver
will install the latest stable version along with all the required
dependencies and
.. code-block:: bash
brew install ceres-solver --HEAD
will install the latest version in the git repo.
You can also install each of the dependencies by hand using `homebrew
<http://mxcl.github.com/homebrew/>`_. There is no need to install
``BLAS`` or ``LAPACK`` separately as OS X ships with optimized
``BLAS`` and ``LAPACK`` routines as part of the `vecLib
<https://developer.apple.com/library/mac/#documentation/Performance/Conceptual/vecLib/Reference/reference.html>`_
framework.
.. code-block:: bash
# CMake
brew install cmake
# google-glog and gflags
brew install glog
# Eigen3
brew install eigen
# SuiteSparse and CXSparse
brew install suite-sparse
We are now ready to build and test Ceres.
.. code-block:: bash
tar zxf ceres-solver-1.9.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-1.9.0
make -j3
make test
Like the Linux build, you should now be able to run
``bin/simple_bundle_adjuster``.
.. _section-windows:
Building on Windows with Visual Studio
======================================
On Windows, we support building with Visual Studio 2010 or newer. Note
that the Windows port is less featureful and less tested than the Linux or
Mac OS X versions due to the lack of an officially supported way of building
SuiteSparse and CXSparse. There are however a number of unofficial ways of
building these libraries. Building on Windows also a bit more involved since
there is no automated way to install dependencies.
#. Make a toplevel directory for deps & build & src somewhere: ``ceres/``
#. Get dependencies; unpack them as subdirectories in ``ceres/``
(``ceres/eigen``, ``ceres/glog``, etc)
#. ``Eigen`` 3.1 (needed on Windows; 3.0.x will not work). There is
no need to build anything; just unpack the source tarball.
#. ``google-glog`` Open up the Visual Studio solution and build it.
#. ``gflags`` Open up the Visual Studio solution and build it.
#. (Experimental) ``SuiteSparse`` Previously SuiteSparse was not available
on Windows, recently it has become possible to build it on Windows using
the `suitesparse-metis-for-windows <https://github.com/jlblancoc/suitesparse-metis-for-windows>`_
project. If you wish to use ``SuiteSparse``, follow their instructions
for obtaining and building it.
#. (Experimental) ``CXSparse`` Previously CXSparse was not available on
Windows, there are now several ports that enable it to be, including:
`[1] <https://github.com/PetterS/CXSparse>`_ and
`[2] <https://github.com/TheFrenchLeaf/CXSparse>`_. If you wish to use
``CXSparse``, follow their instructions for obtaining and building it.
#. Unpack the Ceres tarball into ``ceres``. For the tarball, you
should get a directory inside ``ceres`` similar to
``ceres-solver-1.3.0``. Alternately, checkout Ceres via ``git`` to
get ``ceres-solver.git`` inside ``ceres``.
#. Install ``CMake``,
#. Make a dir ``ceres/ceres-bin`` (for an out-of-tree build)
#. Run ``CMake``; select the ``ceres-solver-X.Y.Z`` or
``ceres-solver.git`` directory for the CMake file. Then select the
``ceres-bin`` for the build dir.
#. Try running ``Configure``. It won't work. It'll show a bunch of options.
You'll need to set:
#. ``EIGEN_INCLUDE_DIR_HINTS``
#. ``GLOG_INCLUDE_DIR_HINTS``
#. ``GLOG_LIBRARY_DIR_HINTS``
#. ``GFLAGS_INCLUDE_DIR_HINTS``
#. ``GFLAGS_LIBRARY_DIR_HINTS``
#. (Optional) ``SUITESPARSE_INCLUDE_DIR_HINTS``
#. (Optional) ``SUITESPARSE_LIBRARY_DIR_HINTS``
#. (Optional) ``CXSPARSE_INCLUDE_DIR_HINTS``
#. (Optional) ``CXSPARSE_LIBRARY_DIR_HINTS``
to the appropriate directories where you unpacked/built them. If any of
the variables are not visible in the ``CMake`` GUI, create a new entry
for them. We recommend using the ``<NAME>_(INCLUDE/LIBRARY)_DIR_HINTS``
variables rather than setting the ``<NAME>_INCLUDE_DIR`` &
``<NAME>_LIBRARY`` variables directly to keep all of the validity
checking, and to avoid having to specify the library files manually.
#. You may have to tweak some more settings to generate a MSVC
project. After each adjustment, try pressing Configure & Generate
until it generates successfully.
#. Open the solution and build it in MSVC
To run the tests, select the ``RUN_TESTS`` target and hit **Build
RUN_TESTS** from the build menu.
Like the Linux build, you should now be able to run
``bin/simple_bundle_adjuster``.
Notes:
#. The default build is Debug; consider switching it to release mode.
#. Currently ``system_test`` is not working properly.
#. CMake puts the resulting test binaries in ``ceres-bin/examples/Debug``
by default.
#. The solvers supported on Windows are ``DENSE_QR``, ``DENSE_SCHUR``,
``CGNR``, and ``ITERATIVE_SCHUR``.
#. We're looking for someone to work with upstream ``SuiteSparse`` to
port their build system to something sane like ``CMake``, and get a
fully supported Windows port.
.. _section-android:
Building on Android
===================
Download the ``Android NDK`` version ``r9d`` or later. Run
``ndk-build`` from inside the ``jni`` directory. Use the
``libceres.a`` that gets created.
.. _section-ios:
Building on iOS
===============
.. NOTE::
You need iOS version 6.0 or higher to build Ceres Solver.
To build Ceres for iOS, we need to force ``CMake`` to find the toolchains from
the iOS SDK instead of using the standard ones. For example:
.. code-block:: bash
cmake ../ceres-solver \
-DCMAKE_TOOLCHAIN_FILE=../ceres-solver/cmake/iOS.cmake \
-DEIGEN_INCLUDE_DIR=/path/to/eigen/header \
-DIOS_PLATFORM=<PLATFORM>
``PLATFORM`` can be one of ``OS``, ``SIMULATOR`` and ``SIMULATOR64``. You can
build for ``OS`` (``armv7``, ``armv7s``, ``arm64``), ``SIMULATOR`` (``i386``) or
``SIMULATOR64`` (``x86_64``) separately and use ``LIPO`` to merge them into
one static library. See ``cmake/iOS.cmake`` for more options.
After building, you will get ``libceres.a`` and ``libminiglog.a``
You need to add these two libraries into your XCode project.
The default CMake configuration builds a bare bones version of Ceres
Solver that only depends on Eigen and MINIGLOG, this should be
sufficient for solving small to moderate sized problems (No
``SPARSE_SCHUR``, ``SPARSE_NORMAL_CHOLESKY`` linear solvers and no
``CLUSTER_JACOBI`` and ``CLUSTER_TRIDIAGONAL`` preconditioners).
If you decide to use ``LAPACK`` and ``BLAS``, then you also need to add
``Accelerate.framework`` to your XCode project's linking dependency.
.. _section-customizing:
Customizing the build
=====================
It is possible to reduce the libraries needed to build Ceres and
customize the build process by setting the appropriate options in
``CMake``. These options can either be set in the ``CMake`` GUI,
or via ``-D<OPTION>=<ON/OFF>`` when running ``CMake`` from the
command line. In general, you should only modify these options from
their defaults if you know what you are doing.
.. NOTE::
If you are setting variables via ``-D<VARIABLE>=<VALUE>`` when calling
``CMake``, it is important to understand that this forcibly **overwrites** the
variable ``<VARIABLE>`` in the ``CMake`` cache at the start of *every configure*.
This can lead to confusion if you are invoking the ``CMake``
`curses <http://www.gnu.org/software/ncurses/ncurses.html>`_ terminal GUI
(via ``ccmake``, e.g. ```ccmake -D<VARIABLE>=<VALUE> <PATH_TO_SRC>``).
In this case, even if you change the value of ``<VARIABLE>`` in the ``CMake``
GUI, your changes will be **overwritten** with the value passed via
``-D<VARIABLE>=<VALUE>`` (if one exists) at the start of each configure.
As such, it is generally easier not to pass values to ``CMake`` via ``-D``
and instead interactively experiment with their values in the ``CMake`` GUI.
If they are not present in the *Standard View*, toggle to the *Advanced View*
with ``<t>``.
Options controlling Ceres configuration
---------------------------------------
#. ``LAPACK [Default: ON]``: By default Ceres will use ``LAPACK`` (&
``BLAS``) if they are found. Turn this ``OFF`` to build Ceres
without ``LAPACK``. Turning this ``OFF`` also disables
``SUITESPARSE`` as it depends on ``LAPACK``.
#. ``SUITESPARSE [Default: ON]``: By default, Ceres will link to
``SuiteSparse`` if it and all of its dependencies are present. Turn
this ``OFF`` to build Ceres without ``SuiteSparse``. Note that
``LAPACK`` must be ``ON`` in order to build with ``SuiteSparse``.
#. ``CXSPARSE [Default: ON]``: By default, Ceres will link to
``CXSparse`` if all its dependencies are present. Turn this ``OFF``
to build Ceres without ``CXSparse``.
#. ``GFLAGS [Default: ON]``: Turn this ``OFF`` to build Ceres without
``gflags``. This will also prevent some of the example code from
building.
#. ``MINIGLOG [Default: OFF]``: Ceres includes a stripped-down,
minimal implementation of ``glog`` which can optionally be used as
a substitute for ``glog``, thus removing ``glog`` as a required
dependency. Turn this ``ON`` to use this minimal ``glog``
implementation.
#. ``SCHUR_SPECIALIZATIONS [Default: ON]``: If you are concerned about
binary size/compilation time over some small (10-20%) performance
gains in the ``SPARSE_SCHUR`` solver, you can disable some of the
template specializations by turning this ``OFF``.
#. ``OPENMP [Default: ON]``: On certain platforms like Android,
multi-threading with ``OpenMP`` is not supported. Turn this ``OFF``
to disable multithreading.
#. ``BUILD_SHARED_LIBS [Default: OFF]``: By default Ceres is built as
a static library, turn this ``ON`` to instead build Ceres as a
shared library.
#. ``BUILD_DOCUMENTATION [Default: OFF]``: Use this to enable building
the documentation, requires `Sphinx <http://sphinx-doc.org/>`_ and the
`sphinx_rtd_theme <https://pypi.python.org/pypi/sphinx_rtd_theme>`_
package available from the Python package index. In addition,
``make ceres_docs`` can be used to build only the documentation.
#. ``MSVC_USE_STATIC_CRT [Default: OFF]`` *Windows Only*: By default
Ceres will use the Visual Studio default, *shared* C-Run Time (CRT) library.
Turn this ``ON`` to use the *static* C-Run Time library instead.
Options controlling Ceres dependency locations
----------------------------------------------
Ceres uses the ``CMake``
`find_package <http://www.cmake.org/cmake/help/v2.8.12/cmake.html#command:find_package>`_
function to find all of its dependencies using
``Find<DEPENDENCY_NAME>.cmake`` scripts which are either included in Ceres
(for most dependencies) or are shipped as standard with ``CMake``
(for ``LAPACK`` & ``BLAS``). These scripts will search all of the "standard"
install locations for various OSs for each dependency. However, particularly
for Windows, they may fail to find the library, in this case you will have to
manually specify its installed location. The ``Find<DEPENDENCY_NAME>.cmake``
scripts shipped with Ceres support two ways for you to do this:
#. Set the *hints* variables specifying the *directories* to search in
preference, but in addition, to the search directories in the
``Find<DEPENDENCY_NAME>.cmake`` script:
- ``<DEPENDENCY_NAME (CAPS)>_INCLUDE_DIR_HINTS``
- ``<DEPENDENCY_NAME (CAPS)>_LIBRARY_DIR_HINTS``
These variables should be set via ``-D<VAR>=<VALUE>``
``CMake`` arguments as they are not visible in the GUI.
#. Set the variables specifying the *explicit* include directory
and library file to use:
- ``<DEPENDENCY_NAME (CAPS)>_INCLUDE_DIR``
- ``<DEPENDENCY_NAME (CAPS)>_LIBRARY``
This bypasses *all* searching in the
``Find<DEPENDENCY_NAME>.cmake`` script, but validation is still
performed.
These variables are available to set in the ``CMake`` GUI. They
are visible in the *Standard View* if the library has not been
found (but the current Ceres configuration requires it), but
are always visible in the *Advanced View*. They can also be
set directly via ``-D<VAR>=<VALUE>`` arguments to ``CMake``.
Building using custom BLAS & LAPACK installs
----------------------------------------------
If you are building on an exotic system, then the standard find package
scripts for ``BLAS`` & ``LAPACK`` which ship with ``CMake`` might not
work. In this case, one option would be to write your own custom versions for
your environment and then set ``CMAKE_MODULE_PATH`` to the directory
containing these custom scripts when invoking ``CMake`` to build Ceres and they
will be used in preference to the default versions. However, in order for this
to work, your scripts must provide the full set of variables provided by the
default scripts. Also, if you are building Ceres with ``SuiteSparse``, the
versions of ``BLAS`` & ``LAPACK`` used by ``SuiteSparse`` and Ceres should be
the same.
.. _section-using-ceres:
Using Ceres with CMake
======================
Once the library is installed with ``make install``, it is possible to
use CMake with `FIND_PACKAGE()
<http://www.cmake.org/cmake/help/v2.8.10/cmake.html#command:find_package>`_
in order to compile **user code** against Ceres. For example, for
`examples/helloworld.cc
<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/helloworld.cc>`_
the following CMakeList.txt can be used:
.. code-block:: cmake
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
PROJECT(helloworld)
FIND_PACKAGE(Ceres REQUIRED)
INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})
# helloworld
ADD_EXECUTABLE(helloworld helloworld.cc)
TARGET_LINK_LIBRARIES(helloworld ${CERES_LIBRARIES})
Specify Ceres version
---------------------
Additionally, when CMake has found Ceres it can check the package
version, if it has been specified in the `FIND_PACKAGE()
<http://www.cmake.org/cmake/help/v2.8.10/cmake.html#command:find_package>`_
call. For example:
.. code-block:: cmake
FIND_PACKAGE(Ceres 1.2.3 REQUIRED)
The version is an optional argument.
Local installations
-------------------
If Ceres was installed in a non-standard path by specifying
-DCMAKE_INSTALL_PREFIX="/some/where/local", then the user should add
the **PATHS** option to the ``FIND_PACKAGE()`` command. e.g.,
.. code-block:: cmake
FIND_PACKAGE(Ceres REQUIRED PATHS "/some/where/local/")
Note that this can be used to have multiple versions of Ceres
installed.