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Diffstat (limited to 'internal/ceres/CMakeLists.txt')
| -rw-r--r-- | internal/ceres/CMakeLists.txt | 264 |
1 files changed, 264 insertions, 0 deletions
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt new file mode 100644 index 0000000..adad6dc --- /dev/null +++ b/internal/ceres/CMakeLists.txt @@ -0,0 +1,264 @@ +# 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 + block_evaluate_preparer.cc + block_jacobi_preconditioner.cc + block_jacobian_writer.cc + block_random_access_dense_matrix.cc + block_random_access_matrix.cc + block_random_access_sparse_matrix.cc + block_sparse_matrix.cc + block_structure.cc + canonical_views_clustering.cc + cgnr_solver.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 + cxsparse.cc + dense_normal_cholesky_solver.cc + dense_qr_solver.cc + dense_sparse_matrix.cc + detect_structure.cc + dogleg_strategy.cc + evaluator.cc + file.cc + gradient_checking_cost_function.cc + implicit_schur_complement.cc + iterative_schur_complement_solver.cc + levenberg_marquardt_strategy.cc + linear_least_squares_problems.cc + linear_operator.cc + linear_solver.cc + local_parameterization.cc + loss_function.cc + normal_prior.cc + parameter_block_ordering.cc + partitioned_matrix_view.cc + polynomial_solver.cc + problem.cc + problem_impl.cc + program.cc + residual_block.cc + residual_block_utils.cc + runtime_numeric_diff_cost_function.cc + schur_complement_solver.cc + schur_eliminator.cc + scratch_evaluate_preparer.cc + solver.cc + solver_impl.cc + sparse_matrix.cc + sparse_normal_cholesky_solver.cc + split.cc + stringprintf.cc + suitesparse.cc + triplet_sparse_matrix.cc + trust_region_minimizer.cc + trust_region_strategy.cc + types.cc + visibility.cc + visibility_based_preconditioner.cc + wall_time.cc +) + +If (${PROTOBUF_FOUND}) + PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS matrix.proto) +ENDIF (${PROTOBUF_FOUND}) + +# 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/schur_eliminator_d_d_d.cc) +ENDIF (${SCHUR_SPECIALIZATIONS}) + +# For Android, use the internal Glog implementation. +IF (${BUILD_ANDROID}) + ADD_LIBRARY(miniglog STATIC + miniglog/glog/logging.cc) + + # The Android logging library that defines e.g. __android_log_print is + # creatively named "log". + TARGET_LINK_LIBRARIES(miniglog log) + + INSTALL(TARGETS miniglog + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib) +ENDIF (${BUILD_ANDROID}) + +SET(CERES_LIBRARY_DEPENDENCIES ${GLOG_LIB}) + +IF (${GFLAGS}) + LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${GFLAGS_LIB}) +ENDIF (${GFLAGS}) + +IF (${SUITESPARSE_FOUND}) + LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CHOLMOD_LIB}) + LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CCOLAMD_LIB}) + LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CAMD_LIB}) + LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${COLAMD_LIB}) + LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${AMD_LIB}) + IF (EXISTS ${SUITESPARSE_CONFIG_LIB}) + LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${SUITESPARSE_CONFIG_LIB}) + ENDIF (EXISTS ${SUITESPARSE_CONFIG_LIB}) + + IF (EXISTS ${METIS_LIB}) + LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${METIS_LIB}) + ENDIF (EXISTS ${METIS_LIB}) + + LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${LAPACK_LIB}) + + IF (EXISTS ${BLAS_LIB}) + LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${BLAS_LIB}) + ENDIF (EXISTS ${BLAS_LIB}) +ENDIF (${SUITESPARSE_FOUND}) + +IF (${CXSPARSE_FOUND}) + LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CXSPARSE_LIB}) +ENDIF (${CXSPARSE_FOUND}) + +IF (${OPENMP_FOUND}) + IF (NOT MSVC) + LIST(APPEND CERES_LIBRARY_DEPENDENCIES gomp) + ENDIF (NOT MSVC) +ENDIF (${OPENMP_FOUND}) + +IF (${PROTOBUF_FOUND}) + LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${PROTOBUF_LIBRARY}) +ENDIF (${PROTOBUF_FOUND}) + +SET(CERES_LIBRARY_SOURCE + ${PROTO_SRCS} + ${PROTO_HDRS} + ${CERES_INTERNAL_SRC} + ${CERES_INTERNAL_HDRS} + ${CERES_INTERNAL_SCHUR_FILES}) + +ADD_LIBRARY(ceres STATIC ${CERES_LIBRARY_SOURCE}) +TARGET_LINK_LIBRARIES(ceres ${CERES_LIBRARY_DEPENDENCIES}) + +INSTALL(TARGETS ceres + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib) + +# Don't build a DLL on MSVC. Supporting Ceres as a DLL on Windows involves +# nontrivial changes that we haven't made yet. +IF (NOT MSVC AND NOT ${BUILD_ANDROID}) + ADD_LIBRARY(ceres_shared SHARED ${CERES_LIBRARY_SOURCE}) + TARGET_LINK_LIBRARIES(ceres_shared ${CERES_LIBRARY_DEPENDENCIES}) + SET_TARGET_PROPERTIES(ceres_shared PROPERTIES + VERSION ${CERES_VERSION} + SOVERSION ${CERES_ABI_VERSION}) + + INSTALL(TARGETS ceres_shared + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib) + +ENDIF (NOT MSVC AND NOT ${BUILD_ANDROID}) + +IF (${BUILD_TESTING} AND ${GFLAGS}) + ADD_LIBRARY(gtest gmock_gtest_all.cc gmock_main.cc) + ADD_LIBRARY(test_util test_util.cc) + TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIB} ${GLOG_LIB}) + + MACRO (CERES_TEST NAME) + ADD_EXECUTABLE(${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 + ${CMAKE_SOURCE_DIR}/data) + ENDMACRO (CERES_TEST) + + CERES_TEST(array_utils) + CERES_TEST(autodiff) + CERES_TEST(autodiff_cost_function) + CERES_TEST(block_random_access_dense_matrix) + CERES_TEST(block_random_access_sparse_matrix) + CERES_TEST(block_sparse_matrix) + CERES_TEST(canonical_views_clustering) + CERES_TEST(compressed_row_sparse_matrix) + CERES_TEST(conditioned_cost_function) + CERES_TEST(corrector) + CERES_TEST(dense_sparse_matrix) + CERES_TEST(evaluator) + CERES_TEST(gradient_checker) + CERES_TEST(gradient_checking_cost_function) + CERES_TEST(graph) + CERES_TEST(graph_algorithms) + CERES_TEST(implicit_schur_complement) + CERES_TEST(iterative_schur_complement_solver) + CERES_TEST(jet) + CERES_TEST(levenberg_marquardt_strategy) + CERES_TEST(dogleg_strategy) + CERES_TEST(local_parameterization) + CERES_TEST(loss_function) + CERES_TEST(minimizer) + CERES_TEST(normal_prior) + CERES_TEST(numeric_diff_cost_function) + CERES_TEST(ordered_groups) + CERES_TEST(parameter_block) + CERES_TEST(parameter_block_ordering) + CERES_TEST(partitioned_matrix_view) + CERES_TEST(polynomial_solver) + CERES_TEST(problem) + CERES_TEST(residual_block) + CERES_TEST(residual_block_utils) + CERES_TEST(rotation) + CERES_TEST(runtime_numeric_diff_cost_function) + CERES_TEST(schur_complement_solver) + CERES_TEST(schur_eliminator) + CERES_TEST(solver_impl) + + IF (${SUITESPARSE_FOUND}) + CERES_TEST(suitesparse) + ENDIF (${SUITESPARSE_FOUND}) + + CERES_TEST(symmetric_linear_solver) + CERES_TEST(triplet_sparse_matrix) + CERES_TEST(trust_region_minimizer) + CERES_TEST(unsymmetric_linear_solver) + CERES_TEST(visibility) + CERES_TEST(visibility_based_preconditioner) + + # Put the large end to end test last. + CERES_TEST(system) +ENDIF (${BUILD_TESTING} AND ${GFLAGS}) |