# 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: 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). # # Reducing binary size: # # This build includes the Schur specializations, which cause binary bloat. 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 LOCAL_PATH := $(call my-dir) include $(CLEAR_VARS) LOCAL_MODULE := libceres LOCAL_SDK_VERSION := 17 LOCAL_NDK_STL_VARIANT := c++_static LOCAL_C_INCLUDES := $(LOCAL_PATH)/internal \ $(LOCAL_PATH)/internal/ceres \ $(LOCAL_PATH)/internal/ceres/miniglog \ $(LOCAL_PATH)/include \ external/eigen \ LOCAL_CPP_EXTENSION := .cc LOCAL_CPPFLAGS := -DCERES_NO_PROTOCOL_BUFFERS \ -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 \ -DMAX_LOG_LEVEL=-1 \ -O3 -w # 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 LOCAL_SRC_FILES := internal/ceres/array_utils.cc \ internal/ceres/blas.cc \ internal/ceres/block_evaluate_preparer.cc \ internal/ceres/block_jacobian_writer.cc \ internal/ceres/block_jacobi_preconditioner.cc \ internal/ceres/block_random_access_dense_matrix.cc \ internal/ceres/block_random_access_matrix.cc \ internal/ceres/block_random_access_sparse_matrix.cc \ internal/ceres/block_sparse_matrix.cc \ internal/ceres/block_structure.cc \ internal/ceres/canonical_views_clustering.cc \ internal/ceres/cgnr_solver.cc \ internal/ceres/compressed_row_jacobian_writer.cc \ internal/ceres/compressed_row_sparse_matrix.cc \ internal/ceres/conditioned_cost_function.cc \ internal/ceres/conjugate_gradients_solver.cc \ internal/ceres/coordinate_descent_minimizer.cc \ internal/ceres/corrector.cc \ internal/ceres/dense_normal_cholesky_solver.cc \ internal/ceres/dense_qr_solver.cc \ internal/ceres/dense_sparse_matrix.cc \ internal/ceres/detect_structure.cc \ internal/ceres/dogleg_strategy.cc \ internal/ceres/evaluator.cc \ internal/ceres/file.cc \ internal/ceres/gradient_checking_cost_function.cc \ internal/ceres/implicit_schur_complement.cc \ internal/ceres/iterative_schur_complement_solver.cc \ internal/ceres/lapack.cc \ internal/ceres/levenberg_marquardt_strategy.cc \ internal/ceres/line_search.cc \ internal/ceres/line_search_direction.cc \ internal/ceres/line_search_minimizer.cc \ internal/ceres/linear_least_squares_problems.cc \ internal/ceres/linear_operator.cc \ internal/ceres/linear_solver.cc \ internal/ceres/local_parameterization.cc \ internal/ceres/loss_function.cc \ internal/ceres/low_rank_inverse_hessian.cc \ internal/ceres/minimizer.cc \ internal/ceres/normal_prior.cc \ internal/ceres/parameter_block_ordering.cc \ internal/ceres/partitioned_matrix_view.cc \ internal/ceres/polynomial.cc \ internal/ceres/preconditioner.cc \ internal/ceres/problem.cc \ internal/ceres/problem_impl.cc \ internal/ceres/program.cc \ internal/ceres/residual_block.cc \ internal/ceres/residual_block_utils.cc \ internal/ceres/runtime_numeric_diff_cost_function.cc \ internal/ceres/schur_complement_solver.cc \ internal/ceres/schur_eliminator.cc \ internal/ceres/schur_jacobi_preconditioner.cc \ internal/ceres/scratch_evaluate_preparer.cc \ internal/ceres/solver.cc \ internal/ceres/solver_impl.cc \ internal/ceres/sparse_matrix.cc \ internal/ceres/sparse_normal_cholesky_solver.cc \ internal/ceres/split.cc \ internal/ceres/stringprintf.cc \ internal/ceres/suitesparse.cc \ internal/ceres/triplet_sparse_matrix.cc \ internal/ceres/trust_region_minimizer.cc \ internal/ceres/trust_region_strategy.cc \ internal/ceres/types.cc \ internal/ceres/visibility_based_preconditioner.cc \ internal/ceres/visibility.cc \ internal/ceres/wall_time.cc \ internal/ceres/generated/schur_eliminator_d_d_d.cc \ internal/ceres/generated/schur_eliminator_2_2_2.cc \ internal/ceres/generated/schur_eliminator_2_2_3.cc \ internal/ceres/generated/schur_eliminator_2_2_4.cc \ internal/ceres/generated/schur_eliminator_2_2_d.cc \ internal/ceres/generated/schur_eliminator_2_3_3.cc \ internal/ceres/generated/schur_eliminator_2_3_4.cc \ internal/ceres/generated/schur_eliminator_2_3_9.cc \ internal/ceres/generated/schur_eliminator_2_3_d.cc \ internal/ceres/generated/schur_eliminator_2_4_3.cc \ internal/ceres/generated/schur_eliminator_2_4_4.cc \ internal/ceres/generated/schur_eliminator_2_4_d.cc \ internal/ceres/generated/schur_eliminator_4_4_2.cc \ internal/ceres/generated/schur_eliminator_4_4_3.cc \ internal/ceres/generated/schur_eliminator_4_4_4.cc \ internal/ceres/generated/schur_eliminator_4_4_d.cc include $(BUILD_STATIC_LIBRARY)