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ceres-solver / ceres-solver / f4d0164607d7bcacf02627e7eaa2e6c2f82affdb / . / jni / Android.mk
blob: 349a9c11715c4ad364c3a448dcf4ca08d7499521 [file] [log] [blame]
Keir Mierle8ceb02c2012-08-16 14:23:47 -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: settinger@google.com (Scott Ettinger)
30# keir@google.com (Keir Mierle)
31#
32# Builds Ceres for Android, using the standard toolchain (not standalone). It
33# uses STLPort instead of GNU C++. This is useful for anyone wishing to ship
34# GPL-free code. This cannot build the tests or other parts of Ceres; only the
35# core libraries. If you need a more complete Ceres build, consider using the
36# CMake toolchain (noting that the standalone toolchain doesn't work with
37# STLPort).
38#
39# You will have to specify the environment EIGEN_PATH to point to the Eigen
40# sources when building. For example:
41#
42# EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j
43#
44# It is also possible to specify CERES_EXTRA_DEFINES, in case you need to pass
45# more definitions to the C compiler.
46#
47# IMPORTANT:
48#
49# The shared library built at the bottom is fake, broken, and empty. It exists
50# only to force ndk-build to build the shared library. This shouldn't be
51# necessary, but if it is missing, then ndk-build will do nothing when asked to
52# build. The produced .so library is NON-FUNCTIONAL since it has no Ceres
53# function-level dependencies. Instead, copy the static library:
54#
55# ../obj/local/armeabi-v7a/libceres.a
56#
57# into your own project, then link it into your binary in your Android.mk file.
58#
59# Reducing binary size:
60#
61# This build includes the Schur specializations, which cause binary bloat. If
62# you don't need them for your application, consider adding:
63#
64# -DCERES_RESTRICT_SCHUR_SPECIALIZATION
65#
66# to the LOCAL_CFLAGS variable below, and commenting out all the
67# generated/schur_eliminator_2_2_2.cc-alike files, leaving only the _d_d_d one.
68
69LOCAL_PATH := $(call my-dir)
70
71EIGEN_PATH := $(EIGEN_PATH)
72
73CERES_INCLUDE_PATHS := ../internal
74CERES_INCLUDE_PATHS += ../internal/ceres
75CERES_INCLUDE_PATHS += ../include
76CERES_INCLUDE_PATHS += ../internal/ceres/miniglog
77CERES_SRC_PATH := ../internal/ceres
78
79include $(CLEAR_VARS)
80LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS)
81LOCAL_C_INCLUDES += $(EIGEN_PATH)
82
83LOCAL_CPP_EXTENSION := .cc
Keir Mierle8ceb02c2012-08-16 14:23:47 -0700[diff] [blame]84LOCAL_CFLAGS := $(CERES_EXTRA_DEFINES) \
Sameer Agarwaldd2b17d2012-08-16 19:34:57 -0700[diff] [blame]85 -DCERES_NO_PROTOCOL_BUFFERS \
Keir Mierle8ceb02c2012-08-16 14:23:47 -0700[diff] [blame]86 -DCERES_NO_SUITESPARSE \
87 -DCERES_NO_GFLAGS \
88 -DCERES_NO_THREADS \
89 -DCERES_NO_CXSPARSE \
Keir Mierle6ad62572012-08-22 11:10:31 -0700[diff] [blame]90 -DCERES_NO_TR1 \
91 -DCERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG
Keir Mierle8ceb02c2012-08-16 14:23:47 -0700[diff] [blame]92
Keir Mierle27dd0d32012-10-15 13:52:36 -0700[diff] [blame]93# On Android NDK 8b, GCC gives spurrious warnings about ABI incompatibility for
94# which there is no solution. Hide the warning instead.
95LOCAL_CFLAGS += -Wno-psabi
96
Keir Mierle8ceb02c2012-08-16 14:23:47 -0700[diff] [blame]97LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \
98 $(CERES_SRC_PATH)/block_evaluate_preparer.cc \
99 $(CERES_SRC_PATH)/block_jacobian_writer.cc \
100 $(CERES_SRC_PATH)/block_jacobi_preconditioner.cc \
101 $(CERES_SRC_PATH)/block_random_access_dense_matrix.cc \
102 $(CERES_SRC_PATH)/block_random_access_matrix.cc \
103 $(CERES_SRC_PATH)/block_random_access_sparse_matrix.cc \
104 $(CERES_SRC_PATH)/block_sparse_matrix.cc \
105 $(CERES_SRC_PATH)/block_structure.cc \
106 $(CERES_SRC_PATH)/canonical_views_clustering.cc \
107 $(CERES_SRC_PATH)/cgnr_solver.cc \
108 $(CERES_SRC_PATH)/compressed_row_jacobian_writer.cc \
109 $(CERES_SRC_PATH)/compressed_row_sparse_matrix.cc \
110 $(CERES_SRC_PATH)/conditioned_cost_function.cc \
111 $(CERES_SRC_PATH)/conjugate_gradients_solver.cc \
Sameer Agarwalba8d9672012-10-02 00:48:57 -0700[diff] [blame]112 $(CERES_SRC_PATH)/coordinate_descent_minimizer.cc \
Keir Mierle8ceb02c2012-08-16 14:23:47 -0700[diff] [blame]113 $(CERES_SRC_PATH)/corrector.cc \
Sameer Agarwalb9f15a52012-08-18 13:06:19 -0700[diff] [blame]114 $(CERES_SRC_PATH)/dense_normal_cholesky_solver.cc \
Keir Mierle8ceb02c2012-08-16 14:23:47 -0700[diff] [blame]115 $(CERES_SRC_PATH)/dense_qr_solver.cc \
116 $(CERES_SRC_PATH)/dense_sparse_matrix.cc \
117 $(CERES_SRC_PATH)/detect_structure.cc \
118 $(CERES_SRC_PATH)/dogleg_strategy.cc \
119 $(CERES_SRC_PATH)/evaluator.cc \
120 $(CERES_SRC_PATH)/file.cc \
121 $(CERES_SRC_PATH)/gradient_checking_cost_function.cc \
122 $(CERES_SRC_PATH)/implicit_schur_complement.cc \
123 $(CERES_SRC_PATH)/iterative_schur_complement_solver.cc \
124 $(CERES_SRC_PATH)/levenberg_marquardt_strategy.cc \
Sameer Agarwal1d11be92012-11-25 19:28:06 -0800[diff] [blame]125 $(CERES_SRC_PATH)/line_search.cc \
Sameer Agarwalf4d01642012-11-26 12:55:58 -0800[diff] [blame^]126 $(CERES_SRC_PATH)/line_search_minimizer.cc \
Keir Mierle8ceb02c2012-08-16 14:23:47 -0700[diff] [blame]127 $(CERES_SRC_PATH)/linear_least_squares_problems.cc \
128 $(CERES_SRC_PATH)/linear_operator.cc \
129 $(CERES_SRC_PATH)/linear_solver.cc \
130 $(CERES_SRC_PATH)/local_parameterization.cc \
131 $(CERES_SRC_PATH)/loss_function.cc \
Keir Mierlef91263d2012-10-15 13:21:13 -0700[diff] [blame]132 $(CERES_SRC_PATH)/miniglog/glog/logging.cc \
Keir Mierle8ceb02c2012-08-16 14:23:47 -0700[diff] [blame]133 $(CERES_SRC_PATH)/normal_prior.cc \
Keir Mierle27dd0d32012-10-15 13:52:36 -0700[diff] [blame]134 $(CERES_SRC_PATH)/parameter_block_ordering.cc \
Keir Mierle8ceb02c2012-08-16 14:23:47 -0700[diff] [blame]135 $(CERES_SRC_PATH)/partitioned_matrix_view.cc \
Sameer Agarwale7295c22012-11-23 18:56:50 -0800[diff] [blame]136 $(CERES_SRC_PATH)/polynomial.cc \
Keir Mierle8ceb02c2012-08-16 14:23:47 -0700[diff] [blame]137 $(CERES_SRC_PATH)/problem.cc \
138 $(CERES_SRC_PATH)/problem_impl.cc \
139 $(CERES_SRC_PATH)/program.cc \
140 $(CERES_SRC_PATH)/residual_block.cc \
141 $(CERES_SRC_PATH)/residual_block_utils.cc \
142 $(CERES_SRC_PATH)/runtime_numeric_diff_cost_function.cc \
143 $(CERES_SRC_PATH)/schur_complement_solver.cc \
144 $(CERES_SRC_PATH)/schur_eliminator.cc \
Keir Mierle8ceb02c2012-08-16 14:23:47 -0700[diff] [blame]145 $(CERES_SRC_PATH)/scratch_evaluate_preparer.cc \
146 $(CERES_SRC_PATH)/solver.cc \
147 $(CERES_SRC_PATH)/solver_impl.cc \
148 $(CERES_SRC_PATH)/sparse_matrix.cc \
149 $(CERES_SRC_PATH)/sparse_normal_cholesky_solver.cc \
150 $(CERES_SRC_PATH)/split.cc \
151 $(CERES_SRC_PATH)/stringprintf.cc \
152 $(CERES_SRC_PATH)/suitesparse.cc \
153 $(CERES_SRC_PATH)/triplet_sparse_matrix.cc \
154 $(CERES_SRC_PATH)/trust_region_minimizer.cc \
155 $(CERES_SRC_PATH)/trust_region_strategy.cc \
156 $(CERES_SRC_PATH)/types.cc \
157 $(CERES_SRC_PATH)/visibility_based_preconditioner.cc \
158 $(CERES_SRC_PATH)/visibility.cc \
Keir Mierlec804bb02012-10-15 14:10:43 -0700[diff] [blame]159 $(CERES_SRC_PATH)/wall_time.cc \
Keir Mierle8ceb02c2012-08-16 14:23:47 -0700[diff] [blame]160 $(CERES_SRC_PATH)/generated/schur_eliminator_d_d_d.cc \
161 $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_2.cc \
162 $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_3.cc \
163 $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_4.cc \
164 $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \
165 $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \
166 $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \
167 $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.cc \
168 $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \
169 $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \
170 $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_4.cc \
171 $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_d.cc \
172 $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_2.cc \
173 $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_3.cc \
174 $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_4.cc \
175 $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_d.cc
176
177LOCAL_MODULE := ceres
178include $(BUILD_STATIC_LIBRARY)
179
180# This is a fake library; see the file header comments.
181include $(CLEAR_VARS)
182LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS)
183LOCAL_C_INCLUDES += $(EIGEN_PATH)
184LOCAL_MODULE := forces_static_ceres_build_do_not_use
185LOCAL_STATIC_LIBRARIES := ceres
186include $(BUILD_SHARED_LIBRARY)