| # 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_checker.cc |
| gradient_checking_cost_function.cc |
| gradient_problem.cc |
| gradient_problem_solver.cc |
| implicit_schur_complement.cc |
| is_close.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_step_evaluator.cc |
| trust_region_strategy.cc |
| types.cc |
| visibility.cc |
| visibility_based_preconditioner.cc |
| wall_time.cc |
| ) |
| |
| # 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}) |
| if (GFLAGS_FOUND) |
| # If glog & gflags are both found, we assume that glog was built with |
| # gflags, as it is awkward to perform a try_compile() to verify this |
| # when gflags is an imported target (as it is in newer versions). |
| # As glog #includes gflags/gflags.h in glog/logging.h if compiled with |
| # gflags, it is thus a public dependency for Ceres in this case. |
| list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GFLAGS_LIBRARIES}) |
| endif() |
| endif (NOT MINIGLOG AND GLOG_FOUND) |
| |
| if (SUITESPARSE AND SUITESPARSE_FOUND) |
| # Define version information for use in Solver::FullReport. |
| add_definitions(-DCERES_SUITESPARSE_VERSION="${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) |
| # OpenMP support in Clang requires a non-GNU OpenMP library. |
| if (CMAKE_COMPILER_IS_GNUCXX) |
| list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES gomp) |
| endif() |
| if (NOT MSVC) |
| list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CMAKE_THREAD_LIBS_INIT}) |
| endif() |
| 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) |
| 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(is_close) |
| 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) |
