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-rw-r--r--internal/ceres/CMakeLists.txt117
1 files changed, 79 insertions, 38 deletions
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
index adad6dc..9e2e1ae 100644
--- a/internal/ceres/CMakeLists.txt
+++ b/internal/ceres/CMakeLists.txt
@@ -33,19 +33,24 @@ SET(CERES_INTERNAL_SRC
block_evaluate_preparer.cc
block_jacobi_preconditioner.cc
block_jacobian_writer.cc
+ block_random_access_crs_matrix.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
+ c_api.cc
canonical_views_clustering.cc
cgnr_solver.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
@@ -56,17 +61,24 @@ SET(CERES_INTERNAL_SRC
file.cc
gradient_checking_cost_function.cc
implicit_schur_complement.cc
+ incomplete_lq_factorization.cc
iterative_schur_complement_solver.cc
levenberg_marquardt_strategy.cc
+ line_search.cc
+ line_search_direction.cc
+ line_search_minimizer.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_solver.cc
+ polynomial.cc
+ preconditioner.cc
problem.cc
problem_impl.cc
program.cc
@@ -75,6 +87,7 @@ SET(CERES_INTERNAL_SRC
runtime_numeric_diff_cost_function.cc
schur_complement_solver.cc
schur_eliminator.cc
+ schur_jacobi_preconditioner.cc
scratch_evaluate_preparer.cc
solver.cc
solver_impl.cc
@@ -92,23 +105,32 @@ SET(CERES_INTERNAL_SRC
wall_time.cc
)
-If (${PROTOBUF_FOUND})
- PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS matrix.proto)
-ENDIF (${PROTOBUF_FOUND})
+# 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 (${SCHUR_SPECIALIZATIONS})
+IF (SCHUR_SPECIALIZATIONS)
FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/*.cc)
-ELSE (${SCHUR_SPECIALIZATIONS})
+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 (${SCHUR_SPECIALIZATIONS})
+ENDIF (SCHUR_SPECIALIZATIONS)
# For Android, use the internal Glog implementation.
-IF (${BUILD_ANDROID})
+IF (BUILD_ANDROID)
ADD_LIBRARY(miniglog STATIC
miniglog/glog/logging.cc)
@@ -117,18 +139,20 @@ IF (${BUILD_ANDROID})
TARGET_LINK_LIBRARIES(miniglog log)
INSTALL(TARGETS miniglog
+ EXPORT CeresExport
RUNTIME DESTINATION bin
- LIBRARY DESTINATION lib
- ARCHIVE DESTINATION lib)
-ENDIF (${BUILD_ANDROID})
+ LIBRARY DESTINATION lib${LIB_SUFFIX}
+ ARCHIVE DESTINATION lib${LIB_SUFFIX})
+ENDIF (BUILD_ANDROID)
SET(CERES_LIBRARY_DEPENDENCIES ${GLOG_LIB})
-IF (${GFLAGS})
+IF (GFLAGS)
LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${GFLAGS_LIB})
-ENDIF (${GFLAGS})
+ENDIF (GFLAGS)
-IF (${SUITESPARSE_FOUND})
+IF (SUITESPARSE_FOUND)
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${SUITESPARSEQR_LIB})
LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CHOLMOD_LIB})
LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CCOLAMD_LIB})
LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CAMD_LIB})
@@ -147,25 +171,25 @@ IF (${SUITESPARSE_FOUND})
IF (EXISTS ${BLAS_LIB})
LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${BLAS_LIB})
ENDIF (EXISTS ${BLAS_LIB})
-ENDIF (${SUITESPARSE_FOUND})
-IF (${CXSPARSE_FOUND})
+ IF (TBB_FOUND)
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${TBB_LIB})
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${TBB_MALLOC_LIB})
+ ENDIF (TBB_FOUND)
+ENDIF (SUITESPARSE_FOUND)
+
+
+IF (CXSPARSE_FOUND)
LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CXSPARSE_LIB})
-ENDIF (${CXSPARSE_FOUND})
+ENDIF (CXSPARSE_FOUND)
-IF (${OPENMP_FOUND})
+IF (OPENMP_FOUND)
IF (NOT MSVC)
LIST(APPEND CERES_LIBRARY_DEPENDENCIES gomp)
ENDIF (NOT MSVC)
-ENDIF (${OPENMP_FOUND})
-
-IF (${PROTOBUF_FOUND})
- LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${PROTOBUF_LIBRARY})
-ENDIF (${PROTOBUF_FOUND})
+ENDIF (OPENMP_FOUND)
SET(CERES_LIBRARY_SOURCE
- ${PROTO_SRCS}
- ${PROTO_HDRS}
${CERES_INTERNAL_SRC}
${CERES_INTERNAL_HDRS}
${CERES_INTERNAL_SCHUR_FILES})
@@ -174,13 +198,14 @@ ADD_LIBRARY(ceres STATIC ${CERES_LIBRARY_SOURCE})
TARGET_LINK_LIBRARIES(ceres ${CERES_LIBRARY_DEPENDENCIES})
INSTALL(TARGETS ceres
+ EXPORT CeresExport
RUNTIME DESTINATION bin
- LIBRARY DESTINATION lib
- ARCHIVE DESTINATION lib)
+ LIBRARY DESTINATION lib${LIB_SUFFIX}
+ ARCHIVE DESTINATION lib${LIB_SUFFIX})
# 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})
+IF (NOT MSVC AND NOT BUILD_ANDROID AND BUILD_SHARED)
ADD_LIBRARY(ceres_shared SHARED ${CERES_LIBRARY_SOURCE})
TARGET_LINK_LIBRARIES(ceres_shared ${CERES_LIBRARY_DEPENDENCIES})
SET_TARGET_PROPERTIES(ceres_shared PROPERTIES
@@ -188,15 +213,20 @@ IF (NOT MSVC AND NOT ${BUILD_ANDROID})
SOVERSION ${CERES_ABI_VERSION})
INSTALL(TARGETS ceres_shared
+ EXPORT CeresExport
RUNTIME DESTINATION bin
- LIBRARY DESTINATION lib
- ARCHIVE DESTINATION lib)
+ LIBRARY DESTINATION lib${LIB_SUFFIX}
+ ARCHIVE DESTINATION lib${LIB_SUFFIX})
-ENDIF (NOT MSVC AND NOT ${BUILD_ANDROID})
+ENDIF (NOT MSVC AND NOT BUILD_ANDROID AND BUILD_SHARED)
-IF (${BUILD_TESTING} AND ${GFLAGS})
+IF (BUILD_TESTING AND GFLAGS)
ADD_LIBRARY(gtest gmock_gtest_all.cc gmock_main.cc)
- ADD_LIBRARY(test_util test_util.cc)
+ ADD_LIBRARY(test_util
+ evaluator_test_utils.cc
+ numeric_diff_test_utils.cc
+ test_util.cc)
+
TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIB} ${GLOG_LIB})
MACRO (CERES_TEST NAME)
@@ -211,20 +241,28 @@ IF (${BUILD_TESTING} AND ${GFLAGS})
CERES_TEST(array_utils)
CERES_TEST(autodiff)
CERES_TEST(autodiff_cost_function)
+ CERES_TEST(autodiff_local_parameterization)
+ CERES_TEST(blas)
+ CERES_TEST(block_random_access_crs_matrix)
CERES_TEST(block_random_access_dense_matrix)
CERES_TEST(block_random_access_sparse_matrix)
CERES_TEST(block_sparse_matrix)
+ CERES_TEST(c_api)
CERES_TEST(canonical_views_clustering)
CERES_TEST(compressed_row_sparse_matrix)
CERES_TEST(conditioned_cost_function)
CERES_TEST(corrector)
+ CERES_TEST(cost_function_to_functor)
+ CERES_TEST(covariance)
CERES_TEST(dense_sparse_matrix)
+ CERES_TEST(dynamic_autodiff_cost_function)
CERES_TEST(evaluator)
CERES_TEST(gradient_checker)
CERES_TEST(gradient_checking_cost_function)
CERES_TEST(graph)
CERES_TEST(graph_algorithms)
CERES_TEST(implicit_schur_complement)
+ CERES_TEST(incomplete_lq_factorization)
CERES_TEST(iterative_schur_complement_solver)
CERES_TEST(jet)
CERES_TEST(levenberg_marquardt_strategy)
@@ -234,11 +272,12 @@ IF (${BUILD_TESTING} AND ${GFLAGS})
CERES_TEST(minimizer)
CERES_TEST(normal_prior)
CERES_TEST(numeric_diff_cost_function)
+ CERES_TEST(numeric_diff_functor)
CERES_TEST(ordered_groups)
CERES_TEST(parameter_block)
CERES_TEST(parameter_block_ordering)
CERES_TEST(partitioned_matrix_view)
- CERES_TEST(polynomial_solver)
+ CERES_TEST(polynomial)
CERES_TEST(problem)
CERES_TEST(residual_block)
CERES_TEST(residual_block_utils)
@@ -248,9 +287,11 @@ IF (${BUILD_TESTING} AND ${GFLAGS})
CERES_TEST(schur_eliminator)
CERES_TEST(solver_impl)
- IF (${SUITESPARSE_FOUND})
- CERES_TEST(suitesparse)
- ENDIF (${SUITESPARSE_FOUND})
+ # TODO(sameeragarwal): This test should ultimately be made
+ # independent of SuiteSparse.
+ IF (SUITESPARSE_FOUND)
+ CERES_TEST(compressed_col_sparse_matrix_utils)
+ ENDIF (SUITESPARSE_FOUND)
CERES_TEST(symmetric_linear_solver)
CERES_TEST(triplet_sparse_matrix)
@@ -261,4 +302,4 @@ IF (${BUILD_TESTING} AND ${GFLAGS})
# Put the large end to end test last.
CERES_TEST(system)
-ENDIF (${BUILD_TESTING} AND ${GFLAGS})
+ENDIF (BUILD_TESTING AND GFLAGS)
generated by cgit v1.2.3 (git 2.25.1) at 2024-05-25 11:16:31 +0000