Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 1 | # Ceres Solver - A fast non-linear least squares minimizer |
| 2 | # Copyright 2010, 2011, 2012 Google Inc. All rights reserved. |
| 3 | # http://code.google.com/p/ceres-solver/ |
| 4 | # |
| 5 | # Redistribution and use in source and binary forms, with or without |
| 6 | # modification, are permitted provided that the following conditions are met: |
| 7 | # |
| 8 | # * Redistributions of source code must retain the above copyright notice, |
| 9 | # this list of conditions and the following disclaimer. |
| 10 | # * Redistributions in binary form must reproduce the above copyright notice, |
| 11 | # this list of conditions and the following disclaimer in the documentation |
| 12 | # and/or other materials provided with the distribution. |
| 13 | # * Neither the name of Google Inc. nor the names of its contributors may be |
| 14 | # used to endorse or promote products derived from this software without |
| 15 | # specific prior written permission. |
| 16 | # |
| 17 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 18 | # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 19 | # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 20 | # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 21 | # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 22 | # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 23 | # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 24 | # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 25 | # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 26 | # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 27 | # POSSIBILITY OF SUCH DAMAGE. |
| 28 | # |
| 29 | # Author: keir@google.com (Keir Mierle) |
| 30 | |
| 31 | SET(CERES_INTERNAL_SRC |
Sameer Agarwal | 1fdc520 | 2012-05-12 07:29:10 -0700 | [diff] [blame] | 32 | array_utils.cc |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 33 | block_evaluate_preparer.cc |
Keir Mierle | e2a6cdc | 2012-05-07 06:39:56 -0700 | [diff] [blame] | 34 | block_jacobi_preconditioner.cc |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 35 | block_jacobian_writer.cc |
| 36 | block_random_access_dense_matrix.cc |
| 37 | block_random_access_matrix.cc |
| 38 | block_random_access_sparse_matrix.cc |
| 39 | block_sparse_matrix.cc |
| 40 | block_structure.cc |
| 41 | canonical_views_clustering.cc |
Keir Mierle | f7898fb | 2012-05-05 20:55:08 -0700 | [diff] [blame] | 42 | cgnr_solver.cc |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 43 | compressed_row_jacobian_writer.cc |
| 44 | compressed_row_sparse_matrix.cc |
| 45 | conditioned_cost_function.cc |
| 46 | conjugate_gradients_solver.cc |
| 47 | corrector.cc |
| 48 | dense_qr_solver.cc |
| 49 | dense_sparse_matrix.cc |
| 50 | detect_structure.cc |
| 51 | evaluator.cc |
| 52 | file.cc |
| 53 | gradient_checking_cost_function.cc |
| 54 | implicit_schur_complement.cc |
| 55 | iterative_schur_complement_solver.cc |
Sameer Agarwal | aa9a83c | 2012-05-29 17:40:17 -0700 | [diff] [blame] | 56 | levenberg_marquardt_strategy.cc |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 57 | linear_least_squares_problems.cc |
| 58 | linear_operator.cc |
| 59 | linear_solver.cc |
| 60 | local_parameterization.cc |
| 61 | loss_function.cc |
| 62 | normal_prior.cc |
| 63 | partitioned_matrix_view.cc |
| 64 | problem.cc |
| 65 | problem_impl.cc |
| 66 | program.cc |
| 67 | residual_block.cc |
| 68 | residual_block_utils.cc |
| 69 | runtime_numeric_diff_cost_function.cc |
| 70 | schur_complement_solver.cc |
| 71 | schur_eliminator.cc |
| 72 | schur_ordering.cc |
| 73 | scratch_evaluate_preparer.cc |
| 74 | solver.cc |
| 75 | solver_impl.cc |
| 76 | sparse_matrix.cc |
| 77 | sparse_normal_cholesky_solver.cc |
| 78 | split.cc |
| 79 | stringprintf.cc |
| 80 | suitesparse.cc |
Sameer Agarwal | aa9a83c | 2012-05-29 17:40:17 -0700 | [diff] [blame] | 81 | trust_region_minimizer.cc |
| 82 | trust_region_strategy.cc |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 83 | triplet_sparse_matrix.cc |
| 84 | types.cc |
| 85 | visibility_based_preconditioner.cc |
| 86 | visibility.cc |
| 87 | ) |
| 88 | |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 89 | If (${PROTOBUF_FOUND}) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 90 | PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS matrix.proto) |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 91 | ENDIF (${PROTOBUF_FOUND}) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 92 | |
| 93 | # Also depend on the header files so that they appear in IDEs. |
| 94 | FILE(GLOB CERES_INTERNAL_HDRS *.h) |
| 95 | |
| 96 | # Include the specialized schur solvers. |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 97 | IF (${SCHUR_SPECIALIZATIONS}) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 98 | FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/*.cc) |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 99 | ELSE (${SCHUR_SPECIALIZATIONS}) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 100 | # Only the fully dynamic solver. |
| 101 | FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/schur_eliminator_d_d_d.cc) |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 102 | ENDIF (${SCHUR_SPECIALIZATIONS}) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 103 | |
| 104 | ADD_LIBRARY(ceres |
| 105 | ${PROTO_SRCS} |
| 106 | ${PROTO_HDRS} |
| 107 | ${CERES_INTERNAL_SRC} |
| 108 | ${CERES_INTERNAL_HDRS} |
| 109 | ${CERES_INTERNAL_SCHUR_FILES}) |
| 110 | |
Sameer Agarwal | daa9824 | 2012-05-11 11:26:38 -0700 | [diff] [blame] | 111 | SET(CERES_LIBRARY_DEPENDENCIES ${GLOG_LIB}) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 112 | |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 113 | IF (${GFLAGS}) |
Sameer Agarwal | daa9824 | 2012-05-11 11:26:38 -0700 | [diff] [blame] | 114 | LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${GFLAGS_LIB}) |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 115 | ENDIF (${GFLAGS}) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 116 | |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 117 | IF (${SUITESPARSE_FOUND}) |
Sameer Agarwal | daa9824 | 2012-05-11 11:26:38 -0700 | [diff] [blame] | 118 | LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CHOLMOD_LIB}) |
Sameer Agarwal | fcfd677 | 2012-05-20 22:38:35 -0700 | [diff] [blame] | 119 | LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CCOLAMD_LIB}) |
Sameer Agarwal | daa9824 | 2012-05-11 11:26:38 -0700 | [diff] [blame] | 120 | LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CAMD_LIB}) |
| 121 | LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${COLAMD_LIB}) |
| 122 | LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${AMD_LIB}) |
| 123 | |
| 124 | IF (EXISTS ${METIS_LIB}) |
| 125 | LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${METIS_LIB}) |
| 126 | ENDIF (EXISTS ${METIS_LIB}) |
| 127 | |
| 128 | LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${LAPACK_LIB}) |
| 129 | |
| 130 | IF (EXISTS ${BLAS_LIB}) |
| 131 | LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${BLAS_LIB}) |
| 132 | ENDIF (EXISTS ${BLAS_LIB}) |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 133 | ENDIF (${SUITESPARSE_FOUND}) |
Keir Mierle | 92d5ab5 | 2012-05-01 18:33:08 -0700 | [diff] [blame] | 134 | |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 135 | IF (${CXSPARSE_FOUND}) |
Sameer Agarwal | b051873 | 2012-05-29 00:27:57 -0700 | [diff] [blame] | 136 | LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CXSPARSE_LIB}) |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 137 | ENDIF (${CXSPARSE_FOUND}) |
Sameer Agarwal | b051873 | 2012-05-29 00:27:57 -0700 | [diff] [blame] | 138 | |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 139 | IF (${OPENMP_FOUND}) |
Sameer Agarwal | daa9824 | 2012-05-11 11:26:38 -0700 | [diff] [blame] | 140 | LIST(APPEND CERES_LIBRARY_DEPENDENCIES gomp) |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 141 | ENDIF (${OPENMP_FOUND}) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 142 | |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 143 | IF (${PROTOBUF_FOUND}) |
Sameer Agarwal | daa9824 | 2012-05-11 11:26:38 -0700 | [diff] [blame] | 144 | LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${PROTOBUF_LIBRARY}) |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 145 | ENDIF (${PROTOBUF_FOUND}) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 146 | |
| 147 | TARGET_LINK_LIBRARIES(ceres ${CERES_LIBRARY_DEPENDENCIES}) |
| 148 | |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 149 | IF (${BUILD_TESTING}) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 150 | ADD_LIBRARY(gtest gmock_gtest_all.cc gmock_main.cc) |
| 151 | ADD_LIBRARY(test_util test_util.cc) |
| 152 | TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIB} ${GLOG_LIB}) |
| 153 | |
| 154 | MACRO (CERES_TEST NAME) |
| 155 | ADD_EXECUTABLE(${NAME}_test ${NAME}_test.cc) |
| 156 | TARGET_LINK_LIBRARIES(${NAME}_test test_util ceres gtest) |
| 157 | ADD_TEST(${NAME}_test |
| 158 | ${NAME}_test |
| 159 | --test_srcdir |
| 160 | ${CMAKE_SOURCE_DIR}/data) |
| 161 | ENDMACRO (CERES_TEST) |
| 162 | |
Sameer Agarwal | 1fdc520 | 2012-05-12 07:29:10 -0700 | [diff] [blame] | 163 | CERES_TEST(array_utils) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 164 | CERES_TEST(autodiff) |
| 165 | CERES_TEST(autodiff_cost_function) |
| 166 | CERES_TEST(block_random_access_dense_matrix) |
| 167 | CERES_TEST(block_random_access_sparse_matrix) |
| 168 | CERES_TEST(block_sparse_matrix) |
| 169 | CERES_TEST(canonical_views_clustering) |
| 170 | CERES_TEST(compressed_row_sparse_matrix) |
| 171 | CERES_TEST(conditioned_cost_function) |
| 172 | CERES_TEST(corrector) |
| 173 | CERES_TEST(dense_sparse_matrix) |
| 174 | CERES_TEST(evaluator) |
| 175 | CERES_TEST(gradient_checking_cost_function) |
| 176 | CERES_TEST(graph) |
| 177 | CERES_TEST(graph_algorithms) |
| 178 | CERES_TEST(implicit_schur_complement) |
| 179 | CERES_TEST(iterative_schur_complement_solver) |
| 180 | CERES_TEST(jet) |
Sameer Agarwal | aa9a83c | 2012-05-29 17:40:17 -0700 | [diff] [blame] | 181 | CERES_TEST(levenberg_marquardt_strategy) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 182 | CERES_TEST(local_parameterization) |
| 183 | CERES_TEST(loss_function) |
| 184 | CERES_TEST(normal_prior) |
| 185 | CERES_TEST(numeric_diff_cost_function) |
| 186 | CERES_TEST(parameter_block) |
| 187 | CERES_TEST(partitioned_matrix_view) |
| 188 | CERES_TEST(problem) |
| 189 | CERES_TEST(residual_block) |
| 190 | CERES_TEST(residual_block_utils) |
| 191 | CERES_TEST(rotation) |
| 192 | CERES_TEST(runtime_numeric_diff_cost_function) |
| 193 | CERES_TEST(schur_complement_solver) |
Sameer Agarwal | daa9824 | 2012-05-11 11:26:38 -0700 | [diff] [blame] | 194 | IF (GFLAGS) |
| 195 | CERES_TEST(schur_eliminator) |
| 196 | ENDIF (GFLAGS) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 197 | CERES_TEST(schur_ordering) |
| 198 | CERES_TEST(solver_impl) |
Sameer Agarwal | 7a3c43b | 2012-06-05 23:10:59 -0700 | [diff] [blame] | 199 | CERES_TEST(suitesparse) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 200 | CERES_TEST(symmetric_linear_solver) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 201 | CERES_TEST(triplet_sparse_matrix) |
Sameer Agarwal | aa9a83c | 2012-05-29 17:40:17 -0700 | [diff] [blame] | 202 | CERES_TEST(trust_region_minimizer) |
Keir Mierle | 8ebb073 | 2012-04-30 23:09:08 -0700 | [diff] [blame] | 203 | CERES_TEST(unsymmetric_linear_solver) |
| 204 | CERES_TEST(visibility) |
Sameer Agarwal | daa9824 | 2012-05-11 11:26:38 -0700 | [diff] [blame] | 205 | IF (GFLAGS) |
| 206 | CERES_TEST(visibility_based_preconditioner) |
| 207 | ENDIF (GFLAGS) |
Sameer Agarwal | b051873 | 2012-05-29 00:27:57 -0700 | [diff] [blame] | 208 | |
| 209 | # Large end to end test for the entire solver. |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 210 | IF (${GFLAGS}) |
Sameer Agarwal | b051873 | 2012-05-29 00:27:57 -0700 | [diff] [blame] | 211 | CERES_TEST(system) |
Sameer Agarwal | d114690 | 2012-05-30 01:40:22 -0700 | [diff] [blame] | 212 | ENDIF (${GFLAGS}) |
| 213 | ENDIF (${BUILD_TESTING}) |