Solver::Options uses shared_ptr to handle ownership.
Solver::Options::linear_solver_ordering and
Solver::Options::inner_iteration_ordering
were bare pointers even though Solver::Options took ownership of these
objects.
This lead to buggy user code and the inability to copy Solver::Options
objects around.
With this change, these naked pointers have been replaced by a
shared_ptr object which will managed the lifetime of these objects. This
also leads to simplification of the lifetime handling of these objects
inside the solver.
The Android.mk and Application.mk files have also been updated
to use a newer NDK revision which ships with LLVM's libc++.
Change-Id: I25161fb3ddf737be0b3e5dfd8e7a0039b22548cd
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4b2f4bd..a9224cb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -395,31 +395,28 @@
INCLUDE(CheckIncludeFileCXX)
CHECK_INCLUDE_FILE_CXX(unordered_map HAVE_STD_UNORDERED_MAP_HEADER)
IF (HAVE_STD_UNORDERED_MAP_HEADER)
- # Even so we've found unordered_map header file it doesn't
- # mean unordered_map and unordered_set will be declared in
- # std namespace.
+ # Finding the unordered_map header doesn't mean that unordered_map
+ # is in std namespace.
#
- # Namely, MSVC 2008 have unordered_map header which declares
- # unordered_map class in std::tr1 namespace. In order to support
- # this, we do extra check to see which exactly namespace is
- # to be used.
-
+ # In particular, MSVC 2008 has unordered_map declared in std::tr1.
+ # In order to support this, we do an extra check to see which
+ # namespace should be used.
INCLUDE(CheckCXXSourceCompiles)
CHECK_CXX_SOURCE_COMPILES("#include <unordered_map>
- int main() {
- std::unordered_map<int, int> map;
- return 0;
- }"
+ int main() {
+ std::unordered_map<int, int> map;
+ return 0;
+ }"
HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
IF (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
ADD_DEFINITIONS(-DCERES_STD_UNORDERED_MAP)
MESSAGE("-- Found unordered_map/set in std namespace.")
ELSE (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
CHECK_CXX_SOURCE_COMPILES("#include <unordered_map>
- int main() {
- std::tr1::unordered_map<int, int> map;
- return 0;
- }"
+ int main() {
+ std::tr1::unordered_map<int, int> map;
+ return 0;
+ }"
HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
IF (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
ADD_DEFINITIONS(-DCERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE)
@@ -432,17 +429,63 @@
ENDIF (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
ENDIF (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
ELSE (HAVE_STD_UNORDERED_MAP_HEADER)
- CHECK_INCLUDE_FILE_CXX("tr1/unordered_map" UNORDERED_MAP_IN_TR1_NAMESPACE)
- IF (UNORDERED_MAP_IN_TR1_NAMESPACE)
+ CHECK_INCLUDE_FILE_CXX("tr1/unordered_map" HAVE_TR1_UNORDERED_MAP_HEADER)
+ IF (HAVE_TR1_UNORDERED_MAP_HEADER)
ADD_DEFINITIONS(-DCERES_TR1_UNORDERED_MAP)
MESSAGE("-- Found tr1/unordered_map/set in std::tr1 namespace.")
- ELSE (UNORDERED_MAP_IN_TR1_NAMESPACE)
+ ELSE (HAVE_TR1_UNORDERED_MAP_HEADE)
MESSAGE("-- Unable to find <unordered_map> or <tr1/unordered_map>. ")
MESSAGE("-- Replacing unordered_map/set with map/set (warning: slower!)")
ADD_DEFINITIONS(-DCERES_NO_UNORDERED_MAP)
- ENDIF (UNORDERED_MAP_IN_TR1_NAMESPACE)
+ ENDIF (HAVE_TR1_UNORDERED_MAP_HEADER)
ENDIF (HAVE_STD_UNORDERED_MAP_HEADER)
+CHECK_INCLUDE_FILE_CXX(memory HAVE_STD_MEMORY_HEADER)
+IF (HAVE_STD_MEMORY_HEADER)
+ # Finding the memory header doesn't mean that shared_ptr is in std
+ # namespace.
+ #
+ # In particular, MSVC 2008 has shared_ptr declared in std::tr1. In
+ # order to support this, we do an extra check to see which namespace
+ # should be used.
+ INCLUDE(CheckCXXSourceCompiles)
+ CHECK_CXX_SOURCE_COMPILES("#include <memory>
+ int main() {
+ std::shared_ptr<int> int_ptr;
+ return 0;
+ }"
+ HAVE_SHARED_PTR_IN_STD_NAMESPACE)
+
+ IF (HAVE_SHARED_PTR_IN_STD_NAMESPACE)
+ ADD_DEFINITIONS(-DCERES_STD_SHARED_PTR)
+ MESSAGE("-- Found shared_ptr in std namespace.")
+ ELSE (HAVE_SHARED_PTR_IN_STD_NAMESPACE)
+ CHECK_CXX_SOURCE_COMPILES("#include <memory>
+ int main() {
+ std::tr1::shared_ptr<int> int_ptr;
+ return 0;
+ }"
+ HAVE_SHARED_PTR_IN_TR1_NAMESPACE)
+ IF (HAVE_SHARED_PTR_IN_TR1_NAMESPACE)
+ ADD_DEFINITIONS(-DCERES_STD_SHARED_PTR_IN_TR1_NAMESPACE)
+ MESSAGE("-- Found shared_ptr in std::tr1 namespace.")
+ ELSE (HAVE_SHARED_PTR_IN_TR1_NAMESPACE)
+ MESSAGE(FATAL_ERROR "-- Found <memory> but cannot find either "
+ "std::shared_ptr or std::tr1::shared_ptr")
+ ADD_DEFINITIONS(-DCERES_NO_SHARED_PTR)
+ ENDIF (HAVE_SHARED_PTR_IN_TR1_NAMESPACE)
+ ENDIF (HAVE_SHARED_PTR_IN_STD_NAMESPACE)
+ELSE (HAVE_STD_MEMORY_HEADER)
+ CHECK_INCLUDE_FILE_CXX("tr1/memory" HAVE_TR1_MEMORY_HEADER)
+ IF (HAVE_TR1_MEMORY_HEADER)
+ ADD_DEFINITIONS(-DCERES_TR1_SHARED_PTR)
+ MESSAGE("-- Found tr1/memory in std::tr1 namespace.")
+ ELSE (HAVE_TR1_MEMORY_HEADER)
+ MESSAGE(FATAL_ERROR "-- Unable to find <memory> or <tr1/memory>. ")
+ ENDIF (HAVE_TR1_MEMORY_HEADER)
+ENDIF (HAVE_STD_MEMORY_HEADER)
+
+
INCLUDE_DIRECTORIES(
include
internal
diff --git a/examples/bundle_adjuster.cc b/examples/bundle_adjuster.cc
index fb82719..70a9640 100644
--- a/examples/bundle_adjuster.cc
+++ b/examples/bundle_adjuster.cc
@@ -151,19 +151,19 @@
if (options->use_inner_iterations) {
if (FLAGS_blocks_for_inner_iterations == "cameras") {
LOG(INFO) << "Camera blocks for inner iterations";
- options->inner_iteration_ordering = new ParameterBlockOrdering;
+ options->inner_iteration_ordering.reset(new ParameterBlockOrdering);
for (int i = 0; i < num_cameras; ++i) {
options->inner_iteration_ordering->AddElementToGroup(cameras + camera_block_size * i, 0);
}
} else if (FLAGS_blocks_for_inner_iterations == "points") {
LOG(INFO) << "Point blocks for inner iterations";
- options->inner_iteration_ordering = new ParameterBlockOrdering;
+ options->inner_iteration_ordering.reset(new ParameterBlockOrdering);
for (int i = 0; i < num_points; ++i) {
options->inner_iteration_ordering->AddElementToGroup(points + point_block_size * i, 0);
}
} else if (FLAGS_blocks_for_inner_iterations == "cameras,points") {
LOG(INFO) << "Camera followed by point blocks for inner iterations";
- options->inner_iteration_ordering = new ParameterBlockOrdering;
+ options->inner_iteration_ordering.reset(new ParameterBlockOrdering);
for (int i = 0; i < num_cameras; ++i) {
options->inner_iteration_ordering->AddElementToGroup(cameras + camera_block_size * i, 0);
}
@@ -172,7 +172,7 @@
}
} else if (FLAGS_blocks_for_inner_iterations == "points,cameras") {
LOG(INFO) << "Point followed by camera blocks for inner iterations";
- options->inner_iteration_ordering = new ParameterBlockOrdering;
+ options->inner_iteration_ordering.reset(new ParameterBlockOrdering);
for (int i = 0; i < num_cameras; ++i) {
options->inner_iteration_ordering->AddElementToGroup(cameras + camera_block_size * i, 1);
}
@@ -221,7 +221,7 @@
}
}
- options->linear_solver_ordering = ordering;
+ options->linear_solver_ordering.reset(ordering);
}
void SetMinimizerOptions(Solver::Options* options) {
diff --git a/include/ceres/internal/port.h b/include/ceres/internal/port.h
index a9fe247..721996c 100644
--- a/include/ceres/internal/port.h
+++ b/include/ceres/internal/port.h
@@ -33,6 +33,13 @@
#include <string>
+#if defined(CERES_STD_SHARED_PTR) || defined(CERES_STD_SHARED_PTR_IN_TR1_NAMESPACE)
+#include <memory>
+#else
+#include <tr1/memory>
+#endif
+
+
namespace ceres {
// It is unfortunate that this import of the entire standard namespace is
@@ -45,6 +52,14 @@
// "string" implementation in the global namespace.
using std::string;
+#if defined(CERES_STD_SHARED_PTR)
+using std::shared_ptr;
+#endif
+
+#if defined(CERES_STD_SHARED_PTR_IN_TR1_NAMESPACE) || defined(SHARED_PTR_IN_TR1_NAMESPACE)
+using std::tr1::shared_ptr;
+#endif
+
} // namespace ceres
#endif // CERES_PUBLIC_INTERNAL_PORT_H_
diff --git a/include/ceres/solver.h b/include/ceres/solver.h
index f0d5be6..c5bfadc 100644
--- a/include/ceres/solver.h
+++ b/include/ceres/solver.h
@@ -107,7 +107,6 @@
num_linear_solver_threads = 1;
- linear_solver_ordering = NULL;
use_postordering = false;
min_linear_solver_iterations = 1;
max_linear_solver_iterations = 500;
@@ -115,7 +114,6 @@
jacobi_scaling = true;
use_inner_iterations = false;
inner_iteration_tolerance = 1e-3;
- inner_iteration_ordering = NULL;
logging_type = PER_MINIMIZER_ITERATION;
minimizer_progress_to_stdout = false;
trust_region_problem_dump_directory = "/tmp";
@@ -126,7 +124,6 @@
update_state_every_iteration = false;
}
- ~Options();
// Minimizer options ----------------------------------------
// Ceres supports the two major families of optimization strategies -
@@ -480,10 +477,7 @@
// the parameter blocks into two groups, one for the points and one
// for the cameras, where the group containing the points has an id
// smaller than the group containing cameras.
- //
- // Once assigned, Solver::Options owns this pointer and will
- // deallocate the memory when destroyed.
- ParameterBlockOrdering* linear_solver_ordering;
+ shared_ptr<ParameterBlockOrdering> linear_solver_ordering;
// Sparse Cholesky factorization algorithms use a fill-reducing
// ordering to permute the columns of the Jacobian matrix. There
@@ -576,7 +570,7 @@
// the lower numbered groups are optimized before the higher
// number groups. Each group must be an independent set. Not
// all parameter blocks need to be present in the ordering.
- ParameterBlockOrdering* inner_iteration_ordering;
+ shared_ptr<ParameterBlockOrdering> inner_iteration_ordering;
// Generally speaking, inner iterations make significant progress
// in the early stages of the solve and then their contribution
diff --git a/internal/ceres/solver.cc b/internal/ceres/solver.cc
index 36c58b3..53a9b4b 100644
--- a/internal/ceres/solver.cc
+++ b/internal/ceres/solver.cc
@@ -56,11 +56,6 @@
} // namespace
-Solver::Options::~Options() {
- delete linear_solver_ordering;
- delete inner_iteration_ordering;
-}
-
Solver::~Solver() {}
void Solver::Solve(const Solver::Options& options,
diff --git a/internal/ceres/solver_impl.cc b/internal/ceres/solver_impl.cc
index 9c5a2b0..e85ffbf 100644
--- a/internal/ceres/solver_impl.cc
+++ b/internal/ceres/solver_impl.cc
@@ -565,14 +565,12 @@
summary->minimizer_type = TRUST_REGION;
SummarizeGivenProgram(*original_program, summary);
- SummarizeOrdering(original_options.linear_solver_ordering,
+ SummarizeOrdering(original_options.linear_solver_ordering.get(),
&(summary->linear_solver_ordering_given));
- SummarizeOrdering(original_options.inner_iteration_ordering,
+ SummarizeOrdering(original_options.inner_iteration_ordering.get(),
&(summary->inner_iteration_ordering_given));
Solver::Options options(original_options);
- options.linear_solver_ordering = NULL;
- options.inner_iteration_ordering = NULL;
#ifndef CERES_USE_OPENMP
if (options.num_threads > 1) {
@@ -636,17 +634,14 @@
problem_impl = gradient_checking_problem_impl.get();
}
- if (original_options.linear_solver_ordering != NULL) {
- if (!IsOrderingValid(original_options, problem_impl, &summary->message)) {
+ if (options.linear_solver_ordering.get() != NULL) {
+ if (!IsOrderingValid(options, problem_impl, &summary->message)) {
LOG(ERROR) << summary->message;
return;
}
event_logger.AddEvent("CheckOrdering");
- options.linear_solver_ordering =
- new ParameterBlockOrdering(*original_options.linear_solver_ordering);
- event_logger.AddEvent("CopyOrdering");
} else {
- options.linear_solver_ordering = new ParameterBlockOrdering;
+ options.linear_solver_ordering.reset(new ParameterBlockOrdering);
const ProblemImpl::ParameterMap& parameter_map =
problem_impl->parameter_map();
for (ProblemImpl::ParameterMap::const_iterator it = parameter_map.begin();
@@ -657,13 +652,6 @@
event_logger.AddEvent("ConstructOrdering");
}
- if (original_options.inner_iteration_ordering != NULL) {
- // Make a copy, as the options struct takes ownership of the
- // ordering objects.
- options.inner_iteration_ordering =
- new ParameterBlockOrdering(*original_options.inner_iteration_ordering);
- }
-
// Create the three objects needed to minimize: the transformed program, the
// evaluator, and the linear solver.
scoped_ptr<Program> reduced_program(CreateReducedProgram(&options,
@@ -676,7 +664,7 @@
return;
}
- SummarizeOrdering(options.linear_solver_ordering,
+ SummarizeOrdering(options.linear_solver_ordering.get(),
&(summary->linear_solver_ordering_used));
SummarizeReducedProgram(*reduced_program, summary);
@@ -839,8 +827,7 @@
// refactored to deal with the various bits of cleanups related to
// line search.
options.linear_solver_type = CGNR;
- options.linear_solver_ordering = NULL;
- options.inner_iteration_ordering = NULL;
+
#ifndef CERES_USE_OPENMP
if (options.num_threads > 1) {
@@ -860,15 +847,13 @@
return;
}
- if (original_options.linear_solver_ordering != NULL) {
- if (!IsOrderingValid(original_options, problem_impl, &summary->message)) {
+ if (options.linear_solver_ordering.get() != NULL) {
+ if (!IsOrderingValid(options, problem_impl, &summary->message)) {
LOG(ERROR) << summary->message;
return;
}
- options.linear_solver_ordering =
- new ParameterBlockOrdering(*original_options.linear_solver_ordering);
} else {
- options.linear_solver_ordering = new ParameterBlockOrdering;
+ options.linear_solver_ordering.reset(new ParameterBlockOrdering);
const ProblemImpl::ParameterMap& parameter_map =
problem_impl->parameter_map();
for (ProblemImpl::ParameterMap::const_iterator it = parameter_map.begin();
@@ -878,6 +863,7 @@
}
}
+
original_program->SetParameterBlockStatePtrsToUserStatePtrs();
// If the user requests gradient checking, construct a new
@@ -1134,16 +1120,16 @@
ProblemImpl* problem_impl,
double* fixed_cost,
string* error) {
- CHECK_NOTNULL(options->linear_solver_ordering);
+ CHECK_NOTNULL(options->linear_solver_ordering.get());
Program* original_program = problem_impl->mutable_program();
scoped_ptr<Program> transformed_program(new Program(*original_program));
ParameterBlockOrdering* linear_solver_ordering =
- options->linear_solver_ordering;
+ options->linear_solver_ordering.get();
const int min_group_id =
linear_solver_ordering->group_to_elements().begin()->first;
ParameterBlockOrdering* inner_iteration_ordering =
- options->inner_iteration_ordering;
+ options->inner_iteration_ordering.get();
if (!RemoveFixedBlocksFromProgram(transformed_program.get(),
linear_solver_ordering,
inner_iteration_ordering,
@@ -1216,7 +1202,7 @@
LinearSolver* SolverImpl::CreateLinearSolver(Solver::Options* options,
string* error) {
CHECK_NOTNULL(options);
- CHECK_NOTNULL(options->linear_solver_ordering);
+ CHECK_NOTNULL(options->linear_solver_ordering.get());
CHECK_NOTNULL(error);
if (options->trust_region_strategy_type == DOGLEG) {
@@ -1486,7 +1472,7 @@
scoped_ptr<ParameterBlockOrdering> inner_iteration_ordering;
ParameterBlockOrdering* ordering_ptr = NULL;
- if (options.inner_iteration_ordering == NULL) {
+ if (options.inner_iteration_ordering.get() == NULL) {
// Find a recursive decomposition of the Hessian matrix as a set
// of independent sets of decreasing size and invert it. This
// seems to work better in practice, i.e., Cameras before
@@ -1513,7 +1499,7 @@
return NULL;
}
}
- ordering_ptr = options.inner_iteration_ordering;
+ ordering_ptr = options.inner_iteration_ordering.get();
}
if (!inner_iteration_minimizer->Init(program,
diff --git a/internal/ceres/solver_impl_test.cc b/internal/ceres/solver_impl_test.cc
index 671edb0..c2f8c22 100644
--- a/internal/ceres/solver_impl_test.cc
+++ b/internal/ceres/solver_impl_test.cc
@@ -326,7 +326,7 @@
Solver::Options options;
options.linear_solver_type = DENSE_SCHUR;
- options.linear_solver_ordering = linear_solver_ordering;
+ options.linear_solver_ordering.reset(linear_solver_ordering);
const vector<ResidualBlock*>& residual_blocks =
problem.program().residual_blocks();
@@ -388,7 +388,7 @@
Solver::Options options;
options.linear_solver_type = DENSE_SCHUR;
- options.linear_solver_ordering = linear_solver_ordering;
+ options.linear_solver_ordering.reset(linear_solver_ordering);
// Create the reduced program. This should remove the fixed block "z",
// marking the index to -1 at the same time. x and y also get indices.
@@ -457,7 +457,7 @@
Solver::Options options;
options.linear_solver_type = DENSE_SCHUR;
- options.linear_solver_ordering = linear_solver_ordering;
+ options.linear_solver_ordering.reset(linear_solver_ordering);
string message;
scoped_ptr<Program> reduced_program(
@@ -541,7 +541,7 @@
Solver::Options options;
options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
// CreateLinearSolver assumes a non-empty ordering.
- options.linear_solver_ordering = new ParameterBlockOrdering;
+ options.linear_solver_ordering.reset(new ParameterBlockOrdering);
string message;
EXPECT_FALSE(SolverImpl::CreateLinearSolver(&options, &message));
}
@@ -552,7 +552,7 @@
options.linear_solver_type = DENSE_QR;
options.max_linear_solver_iterations = -1;
// CreateLinearSolver assumes a non-empty ordering.
- options.linear_solver_ordering = new ParameterBlockOrdering;
+ options.linear_solver_ordering.reset(new ParameterBlockOrdering);
string message;
EXPECT_EQ(SolverImpl::CreateLinearSolver(&options, &message),
static_cast<LinearSolver*>(NULL));
@@ -563,7 +563,7 @@
options.linear_solver_type = DENSE_QR;
options.min_linear_solver_iterations = -1;
// CreateLinearSolver assumes a non-empty ordering.
- options.linear_solver_ordering = new ParameterBlockOrdering;
+ options.linear_solver_ordering.reset(new ParameterBlockOrdering);
string message;
EXPECT_EQ(SolverImpl::CreateLinearSolver(&options, &message),
static_cast<LinearSolver*>(NULL));
@@ -574,7 +574,7 @@
options.linear_solver_type = DENSE_QR;
options.min_linear_solver_iterations = 10;
options.max_linear_solver_iterations = 5;
- options.linear_solver_ordering = new ParameterBlockOrdering;
+ options.linear_solver_ordering.reset(new ParameterBlockOrdering);
string message;
EXPECT_EQ(SolverImpl::CreateLinearSolver(&options, &message),
static_cast<LinearSolver*>(NULL));
@@ -586,7 +586,7 @@
options.num_linear_solver_threads = 2;
// The Schur type solvers can only be created with the Ordering
// contains at least one elimination group.
- options.linear_solver_ordering = new ParameterBlockOrdering;
+ options.linear_solver_ordering.reset(new ParameterBlockOrdering);
double x;
double y;
options.linear_solver_ordering->AddElementToGroup(&x, 0);
@@ -604,7 +604,7 @@
Solver::Options options;
options.trust_region_strategy_type = DOGLEG;
// CreateLinearSolver assumes a non-empty ordering.
- options.linear_solver_ordering = new ParameterBlockOrdering;
+ options.linear_solver_ordering.reset(new ParameterBlockOrdering);
string message;
options.linear_solver_type = ITERATIVE_SCHUR;
EXPECT_EQ(SolverImpl::CreateLinearSolver(&options, &message),
@@ -620,7 +620,7 @@
scoped_ptr<LinearSolver> solver;
options.linear_solver_type = DENSE_QR;
// CreateLinearSolver assumes a non-empty ordering.
- options.linear_solver_ordering = new ParameterBlockOrdering;
+ options.linear_solver_ordering.reset(new ParameterBlockOrdering);
string message;
solver.reset(SolverImpl::CreateLinearSolver(&options, &message));
EXPECT_EQ(options.linear_solver_type, DENSE_QR);
diff --git a/internal/ceres/system_test.cc b/internal/ceres/system_test.cc
index eb2e24c..f4b9ff3 100644
--- a/internal/ceres/system_test.cc
+++ b/internal/ceres/system_test.cc
@@ -140,8 +140,7 @@
options.num_linear_solver_threads = config.num_threads;
if (config.use_automatic_ordering) {
- delete options.linear_solver_ordering;
- options.linear_solver_ordering = NULL;
+ options.linear_solver_ordering.reset();
}
LOG(INFO) << "Running solver configuration: "
@@ -398,7 +397,7 @@
problem_.AddResidualBlock(cost_function, NULL, camera, point);
}
- options_.linear_solver_ordering = new ParameterBlockOrdering;
+ options_.linear_solver_ordering.reset(new ParameterBlockOrdering);
// The points come before the cameras.
for (int i = 0; i < num_points_; ++i) {
diff --git a/jni/Android.mk b/jni/Android.mk
index 09657aa..6c4d69d 100644
--- a/jni/Android.mk
+++ b/jni/Android.mk
@@ -29,44 +29,44 @@
# Author: settinger@google.com (Scott Ettinger)
# keir@google.com (Keir Mierle)
#
-# Builds Ceres for Android, using the standard toolchain (not standalone). It
-# uses STLPort instead of GNU C++. This is useful for anyone wishing to ship
-# GPL-free code. This cannot build the tests or other parts of Ceres; only the
-# core libraries. If you need a more complete Ceres build, consider using the
-# CMake toolchain (noting that the standalone toolchain doesn't work with
-# STLPort).
+# 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.
#
-# You will have to specify the environment EIGEN_PATH to point to the Eigen
-# sources when building. For example:
+# 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.
+# It is also possible to specify CERES_EXTRA_DEFINES, in case you need
+# to pass more definitions to the C compiler.
#
-# IMPORTANT:
-#
-# The shared library built at the bottom is fake, broken, and empty. It exists
-# only to force ndk-build to build the shared library. This shouldn't be
-# necessary, but if it is missing, then ndk-build will do nothing when asked to
-# build. The produced .so library is NON-FUNCTIONAL since it has no Ceres
-# function-level dependencies. Instead, copy the static library:
+# 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.
+# 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 cause binary bloat. If
-# you don't need them for your application, consider adding:
+# 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:
-#
+# 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
@@ -99,13 +99,10 @@
-DCERES_NO_GFLAGS \
-DCERES_NO_THREADS \
-DCERES_NO_CXSPARSE \
- -DCERES_NO_UNORDERED_MAP \
+ -DCERES_STD_UNORDERED_MAP \
+ -DCERES_STD_SHARED_PTR \
-DCERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG
-# On Android NDK 8b, GCC gives spurrious warnings about ABI incompatibility for
-# which there is no solution. Hide the warning instead.
-LOCAL_CFLAGS += -Wno-psabi
-
LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \
$(CERES_SRC_PATH)/blas.cc \
$(CERES_SRC_PATH)/block_evaluate_preparer.cc \
@@ -187,6 +184,7 @@
$(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_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 \
@@ -203,6 +201,7 @@
$(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_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 \
@@ -214,11 +213,3 @@
LOCAL_MODULE := ceres
include $(BUILD_STATIC_LIBRARY)
-
-# This is a fake library; see the file header comments.
-include $(CLEAR_VARS)
-LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS)
-LOCAL_C_INCLUDES += $(EIGEN_PATH)
-LOCAL_MODULE := forces_static_ceres_build_do_not_use
-LOCAL_STATIC_LIBRARIES := ceres
-include $(BUILD_SHARED_LIBRARY)
diff --git a/jni/Application.mk b/jni/Application.mk
index 462823d..ec40293 100644
--- a/jni/Application.mk
+++ b/jni/Application.mk
@@ -33,6 +33,7 @@
APP_CPPFLAGS += -fno-rtti
APP_OPTIM := release
-# Don't use GNU libstdc++; instead use STLPort, which is free of GPL3 issues.
-APP_STL := stlport_static
+# Use libc++ from LLVM. It is a modern BSD licensed implementation of
+# the standard C++ library.
+APP_STL := c++_static
APP_ABI := armeabi-v7a
