diff options
Diffstat (limited to 'jni/Android.mk')
| -rw-r--r-- | jni/Android.mk | 108 |
1 files changed, 61 insertions, 47 deletions
diff --git a/jni/Android.mk b/jni/Android.mk index 7d5afd8..70680f5 100644 --- a/jni/Android.mk +++ b/jni/Android.mk @@ -29,49 +29,44 @@ # Author: settinger@google.com (Scott Ettinger) # keir@google.com (Keir Mierle) # -# Builds Ceres for Android, using the standard toolchain (not standalone). It -# uses STLPort instead of GNU C++. This is useful for anyone wishing to ship -# GPL-free code. This cannot build the tests or other parts of Ceres; only the -# core libraries. If you need a more complete Ceres build, consider using the -# CMake toolchain (noting that the standalone toolchain doesn't work with -# STLPort). +# Builds Ceres for Android, using the standard toolchain (not +# standalone). It uses LLVM's libc++ as the standard library. It is a +# modern BSD licensed implementation of the standard c++ library. We +# do this to avoid any licensing issues that may arise from using +# GCC's libstdc++ which is licensed under GPL3. # -# You will have to specify the environment EIGEN_PATH to point to the Eigen -# sources when building. For example: +# Building +# -------- # -# EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j +# You will have to specify the environment EIGEN_PATH to point to the +# Eigen sources when building. For example: # -# It is also possible to specify CERES_EXTRA_DEFINES, in case you need to pass -# more definitions to the C compiler. +# EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j # -# IMPORTANT: +# It is also possible to specify CERES_EXTRA_DEFINES, in case you need +# to pass more definitions to the C compiler. # -# The shared library built at the bottom is fake, broken, and empty. It exists -# only to force ndk-build to build the shared library. This shouldn't be -# necessary, but if it is missing, then ndk-build will do nothing when asked to -# build. The produced .so library is NON-FUNCTIONAL since it has no Ceres -# function-level dependencies. Instead, copy the static library: +# Using the library +# ----------------- +# Copy the static library: # # ../obj/local/armeabi-v7a/libceres.a # -# into your own project, then link it into your binary in your Android.mk file. +# into your own project, then link it into your binary in your +# Android.mk file. # -# Reducing binary size: -# -# This build includes the Schur specializations, which cause binary bloat. If -# you don't need them for your application, consider adding: +# Reducing binary size +# -------------------- +# This build includes the Schur specializations, which increase the +# size of the binary. If you don't need them for your application, +# consider adding: # # -DCERES_RESTRICT_SCHUR_SPECIALIZATION # -# to the LOCAL_CFLAGS variable below, and commenting out all the -# generated/schur_eliminator_2_2_2.cc-alike files, leaving only the _d_d_d one. -# -# Similarly if you do not need the line search minimizer, consider adding -# -# -DCERES_NO_LINE_SEARCH_MINIMIZER -# -# Changing the logging library: +# to the LOCAL_CFLAGS variable below. # +# Changing the logging library +# ---------------------------- # Ceres Solver ships with a replacement for glog that provides a # simple and small implementation that builds on Android. However, if # you wish to supply a header only version yourself, then you may @@ -79,11 +74,17 @@ LOCAL_PATH := $(call my-dir) +# Ceres requires at least NDK version r9d to compile. +ifneq ($(shell $(LOCAL_PATH)/assert_ndk_version.sh "r9d" $(NDK_ROOT)), true) + $(error Ceres requires NDK version r9d or greater) +endif + EIGEN_PATH := $(EIGEN_PATH) CERES_INCLUDE_PATHS := $(CERES_EXTRA_INCLUDES) CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../include +CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../config # Use the alternate glog implementation if provided by the user. ifdef CERES_GLOG_DIR @@ -101,15 +102,9 @@ LOCAL_CPP_EXTENSION := .cc LOCAL_CFLAGS := $(CERES_EXTRA_DEFINES) \ -DCERES_NO_LAPACK \ -DCERES_NO_SUITESPARSE \ - -DCERES_NO_GFLAGS \ -DCERES_NO_THREADS \ -DCERES_NO_CXSPARSE \ - -DCERES_NO_TR1 \ - -DCERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG - -# On Android NDK 8b, GCC gives spurrious warnings about ABI incompatibility for -# which there is no solution. Hide the warning instead. -LOCAL_CFLAGS += -Wno-psabi + -DCERES_STD_UNORDERED_MAP LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \ $(CERES_SRC_PATH)/blas.cc \ @@ -117,10 +112,12 @@ LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \ $(CERES_SRC_PATH)/block_jacobian_writer.cc \ $(CERES_SRC_PATH)/block_jacobi_preconditioner.cc \ $(CERES_SRC_PATH)/block_random_access_dense_matrix.cc \ + $(CERES_SRC_PATH)/block_random_access_diagonal_matrix.cc \ $(CERES_SRC_PATH)/block_random_access_matrix.cc \ $(CERES_SRC_PATH)/block_random_access_sparse_matrix.cc \ $(CERES_SRC_PATH)/block_sparse_matrix.cc \ $(CERES_SRC_PATH)/block_structure.cc \ + $(CERES_SRC_PATH)/callbacks.cc \ $(CERES_SRC_PATH)/canonical_views_clustering.cc \ $(CERES_SRC_PATH)/cgnr_solver.cc \ $(CERES_SRC_PATH)/compressed_row_jacobian_writer.cc \ @@ -134,6 +131,8 @@ LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \ $(CERES_SRC_PATH)/dense_sparse_matrix.cc \ $(CERES_SRC_PATH)/detect_structure.cc \ $(CERES_SRC_PATH)/dogleg_strategy.cc \ + $(CERES_SRC_PATH)/dynamic_compressed_row_jacobian_writer.cc \ + $(CERES_SRC_PATH)/dynamic_compressed_row_sparse_matrix.cc \ $(CERES_SRC_PATH)/evaluator.cc \ $(CERES_SRC_PATH)/file.cc \ $(CERES_SRC_PATH)/gradient_checking_cost_function.cc \ @@ -159,9 +158,9 @@ LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \ $(CERES_SRC_PATH)/problem.cc \ $(CERES_SRC_PATH)/problem_impl.cc \ $(CERES_SRC_PATH)/program.cc \ + $(CERES_SRC_PATH)/reorder_program.cc \ $(CERES_SRC_PATH)/residual_block.cc \ $(CERES_SRC_PATH)/residual_block_utils.cc \ - $(CERES_SRC_PATH)/runtime_numeric_diff_cost_function.cc \ $(CERES_SRC_PATH)/schur_complement_solver.cc \ $(CERES_SRC_PATH)/schur_eliminator.cc \ $(CERES_SRC_PATH)/schur_jacobi_preconditioner.cc \ @@ -172,6 +171,7 @@ LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \ $(CERES_SRC_PATH)/sparse_normal_cholesky_solver.cc \ $(CERES_SRC_PATH)/split.cc \ $(CERES_SRC_PATH)/stringprintf.cc \ + $(CERES_SRC_PATH)/summary_utils.cc \ $(CERES_SRC_PATH)/suitesparse.cc \ $(CERES_SRC_PATH)/triplet_sparse_matrix.cc \ $(CERES_SRC_PATH)/trust_region_minimizer.cc \ @@ -191,11 +191,33 @@ LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_4.cc \ + $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_8.cc \ + $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_9.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_d.cc \ + $(CERES_SRC_PATH)/generated/schur_eliminator_2_d_d.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_2.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_3.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_4.cc \ - $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_d.cc + $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_d.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_d_d_d.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_2.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_3.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_4.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_d.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_3.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_4.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_9.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_d.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_3.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_4.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_8.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_9.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_d.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_d_d.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_2.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_3.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_4.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_d.cc ifndef CERES_GLOG_DIR LOCAL_SRC_FILES += $(CERES_SRC_PATH)/miniglog/glog/logging.cc @@ -203,11 +225,3 @@ endif LOCAL_MODULE := ceres include $(BUILD_STATIC_LIBRARY) - -# This is a fake library; see the file header comments. -include $(CLEAR_VARS) -LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS) -LOCAL_C_INCLUDES += $(EIGEN_PATH) -LOCAL_MODULE := forces_static_ceres_build_do_not_use -LOCAL_STATIC_LIBRARIES := ceres -include $(BUILD_SHARED_LIBRARY) |