| # Ceres Solver - A fast non-linear least squares minimizer |
| # Copyright 2010, 2011, 2012 Google Inc. All rights reserved. |
| # http://code.google.com/p/ceres-solver/ |
| # |
| # 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 |
| incomplete_lq_factorization.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) |
| LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${SUITESPARSE_LIBRARIES}) |
| ENDIF (SUITESPARSE AND SUITESPARSE_FOUND) |
| |
| IF (CXSPARSE AND CXSPARSE_FOUND) |
| 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} |
| ) |
| |
| 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) |
| 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) |
| 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(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(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(graph) |
| CERES_TEST(graph_algorithms) |
| CERES_TEST(implicit_schur_complement) |
| CERES_TEST(incomplete_lq_factorization) |
| 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) |
| 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) |
