Preliminary Android port of Ceres
This change adds several of the pieces needed to build Ceres on
Android. The port is incomplete, since GFlags doesn't build which
causes the tests to not build. However, simple_bundle_adjuster
builds and runs on the phone.
Thanks to Scott Ettinger for the original version of the minimal
GLog implementation which made this port possible. The Ceres logs
go to the various Android logging levels, as documented in
miniglog/glog/logging.h.
To control the Android build, this adds a new CMake build option:
-DBUILD_ANDROID=ON/OFF
However, users may not want to set this manually, and should
instead run the script found in android/build_android.sh. The
script calls the NDK to make a standalone toolchain, downloads the
android-cmake toolchain, then configures CMake to cross-compile
Ceres to Android.
Note: At time of writing, the android-cmake toolchain that the
script downloads from Google Code doesn't work with the latest
Jellybean NDK. It's possible to manually hack the toolchain file
to make it build by setting the compiler version and manually
setting the path to the STL includes. I don't yet have a patch
suitable for upstreaming to http://android-cmake.googlecode.com.
Change-Id: Icb615be203145e87413d6acd05883171a395499d
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c1f7b56..dc31231 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -52,6 +52,10 @@
"Enable tests"
ON)
+OPTION(BUILD_ANDROID
+ "Build for Android. Use build_android.sh instead of setting this."
+ OFF)
+
# To get a more static build, try the following line on Mac and Linux:
# SET(CMAKE_FIND_LIBRARY_SUFFIXES .a ${CMAKE_FIND_LIBRARY_SUFFIXES})
@@ -315,22 +319,29 @@
ENDIF (${GFLAGS})
# Google Logging
-MESSAGE("-- Check for Google Log")
-FIND_LIBRARY(GLOG_LIB NAMES glog PATHS ${SEARCH_LIBS})
-IF (NOT EXISTS ${GLOG_LIB})
- MESSAGE(FATAL_ERROR
- "Can't find Google Log. Please specify: "
- "-DGLOG_LIB=...")
-ENDIF (NOT EXISTS ${GLOG_LIB})
-MESSAGE("-- Found Google Log library: ${GLOG_LIB}")
+IF (NOT ${BUILD_ANDROID})
+ MESSAGE("-- Check for Google Log")
+ FIND_LIBRARY(GLOG_LIB NAMES glog PATHS ${SEARCH_LIBS})
+ IF (NOT EXISTS ${GLOG_LIB})
+ MESSAGE(FATAL_ERROR
+ "Can't find Google Log. Please specify: "
+ "-DGLOG_LIB=...")
+ ENDIF (NOT EXISTS ${GLOG_LIB})
+ MESSAGE("-- Found Google Log library: ${GLOG_LIB}")
-FIND_PATH(GLOG_INCLUDE NAMES glog/logging.h PATHS ${SEARCH_HEADERS})
-IF (NOT EXISTS ${GLOG_INCLUDE})
- MESSAGE(FATAL_ERROR
- "Can't find Google Log. Please specify: "
- "-DGLOG_INCLUDE=...")
-ENDIF (NOT EXISTS ${GLOG_INCLUDE})
-MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE}")
+ FIND_PATH(GLOG_INCLUDE NAMES glog/logging.h PATHS ${SEARCH_HEADERS})
+ IF (NOT EXISTS ${GLOG_INCLUDE})
+ MESSAGE(FATAL_ERROR
+ "Can't find Google Log. Please specify: "
+ "-DGLOG_INCLUDE=...")
+ ENDIF (NOT EXISTS ${GLOG_INCLUDE})
+ MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE}")
+ELSE (NOT ${BUILD_ANDROID})
+ SET(GLOG_LIB miniglog)
+ MESSAGE("-- Using minimal Glog substitute for Android (library): ${GLOG_LIB}")
+ SET(GLOG_INCLUDE internal/ceres/miniglog)
+ MESSAGE("-- Using minimal Glog substitute for Android (include): ${GLOG_INCLUDE}")
+ENDIF (NOT ${BUILD_ANDROID})
# Eigen
MESSAGE("-- Check for Eigen 3.0")
@@ -385,14 +396,22 @@
ADD_DEFINITIONS(-DCERES_DONT_HAVE_PROTOCOL_BUFFERS)
ENDIF (${PROTOBUF})
-IF (${UNIX})
- # At least on linux, we need pthreads to be enabled for mutex to
- # compile. This may not work on windows or android.
+
+# Use threads but not on Android, where there is no support for OpenMP yet.
+IF (${UNIX} AND NOT ${BUILD_ANDROID})
+ # At least on Linux, we need pthreads to be enabled for mutex to compile.
+ # This may not work on windows or android.
FIND_PACKAGE(Threads REQUIRED)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CMAKE_THREAD_LIBS_INIT}")
ADD_DEFINITIONS(-DCERES_HAVE_PTHREAD)
ADD_DEFINITIONS(-DCERES_HAVE_RWLOCK)
-ENDIF (${UNIX})
+ENDIF (${UNIX} AND NOT ${BUILD_ANDROID})
+
+# Disable threads in mutex.h. Someday, after there is OpenMP support in
+# Android, this can get removed.
+IF (${BUILD_ANDROID})
+ ADD_DEFINITIONS(-DNO_THREADS)
+ENDIF (${BUILD_ANDROID})
# Use the std namespace for the hash<> and related templates. This may vary by
# system.
@@ -450,15 +469,19 @@
IF (CMAKE_BUILD_TYPE STREQUAL "Release")
IF (CMAKE_COMPILER_IS_GNUCXX)
- # Linux
- IF (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
- SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -march=native -mtune=native")
- ENDIF (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
-
- # Mac OS X
- IF (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
- SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -fast -msse3")
- ENDIF (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+ IF (${BUILD_ANDROID})
+ # TODO(keir): Figure out what flags should go here to make an optimized
+ # native ARM binary for Android.
+ ELSE (${BUILD_ANDROID})
+ # Linux
+ IF (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
+ SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -march=native -mtune=native")
+ ENDIF (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
+ # Mac OS X
+ IF (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+ SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -fast -msse3")
+ ENDIF (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+ ENDIF (${BUILD_ANDROID})
ENDIF (CMAKE_COMPILER_IS_GNUCXX)
SET (CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${CERES_CXX_FLAGS}"
CACHE STRING "Release mode flags to the C++ Compiler" FORCE)
@@ -467,9 +490,9 @@
# After the tweaks for the compile settings, disable some warnings on MSVC.
IF (MSVC)
# Disable signed/unsigned int conversion warnings.
- ADD_DEFINITIONS( "/wd4018")
+ ADD_DEFINITIONS("/wd4018")
# Disable warning about using struct/class for the same symobl.
- ADD_DEFINITIONS( "/wd4099")
+ ADD_DEFINITIONS("/wd4099")
# Disable warning about the insecurity of using "std::copy".
ADD_DEFINITIONS("/wd4996")
# Disable performance warning about int-to-bool conversion.
