# 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 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. # # Building # -------- # # You will have to specify the environment EIGEN_PATH to point to the # Eigen sources when building. For example: # # EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j # # It is also possible to specify CERES_EXTRA_DEFINES, in case you need # to pass more definitions to the C compiler. # # 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. # # 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. # # 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 # define CERES_GLOG_DIR to point to it. LOCAL_PATH := $(call my-dir) EIGEN_PATH := external/eigen 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 CERES_INCLUDE_PATHS += $(CERES_GLOG_DIR) else CERES_INCLUDE_PATHS += $(LOCAL_PATH)/internal/ceres/miniglog endif CERES_SRC_PATH := internal/ceres include $(CLEAR_VARS) LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS) LOCAL_C_INCLUDES += $(EIGEN_PATH) LOCAL_SDK_VERSION := 17 LOCAL_NDK_STL_VARIANT := c++_static LOCAL_CPP_EXTENSION := .cc LOCAL_CFLAGS := $(CERES_EXTRA_DEFINES) \ -DCERES_NO_LAPACK \ -DCERES_NO_SUITESPARSE \ -DCERES_NO_THREADS \ -DCERES_NO_CXSPARSE \ -DCERES_STD_UNORDERED_MAP # The default relase optimization level is O2, but we want O3. LOCAL_CFLAGS += -O3 -w # Set the logging max level to 1. LOCAL_CFLAGS += -DMAX_LOG_LEVEL=-1 # 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 := $(CERES_SRC_PATH)/array_utils.cc \ $(CERES_SRC_PATH)/blas.cc \ $(CERES_SRC_PATH)/block_evaluate_preparer.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 \ $(CERES_SRC_PATH)/compressed_row_sparse_matrix.cc \ $(CERES_SRC_PATH)/conditioned_cost_function.cc \ $(CERES_SRC_PATH)/conjugate_gradients_solver.cc \ $(CERES_SRC_PATH)/coordinate_descent_minimizer.cc \ $(CERES_SRC_PATH)/corrector.cc \ $(CERES_SRC_PATH)/dense_normal_cholesky_solver.cc \ $(CERES_SRC_PATH)/dense_qr_solver.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 \ $(CERES_SRC_PATH)/implicit_schur_complement.cc \ $(CERES_SRC_PATH)/iterative_schur_complement_solver.cc \ $(CERES_SRC_PATH)/lapack.cc \ $(CERES_SRC_PATH)/levenberg_marquardt_strategy.cc \ $(CERES_SRC_PATH)/line_search.cc \ $(CERES_SRC_PATH)/line_search_direction.cc \ $(CERES_SRC_PATH)/line_search_minimizer.cc \ $(CERES_SRC_PATH)/linear_least_squares_problems.cc \ $(CERES_SRC_PATH)/linear_operator.cc \ $(CERES_SRC_PATH)/linear_solver.cc \ $(CERES_SRC_PATH)/local_parameterization.cc \ $(CERES_SRC_PATH)/loss_function.cc \ $(CERES_SRC_PATH)/low_rank_inverse_hessian.cc \ $(CERES_SRC_PATH)/minimizer.cc \ $(CERES_SRC_PATH)/normal_prior.cc \ $(CERES_SRC_PATH)/parameter_block_ordering.cc \ $(CERES_SRC_PATH)/partitioned_matrix_view.cc \ $(CERES_SRC_PATH)/polynomial.cc \ $(CERES_SRC_PATH)/preconditioner.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)/schur_complement_solver.cc \ $(CERES_SRC_PATH)/schur_eliminator.cc \ $(CERES_SRC_PATH)/schur_jacobi_preconditioner.cc \ $(CERES_SRC_PATH)/scratch_evaluate_preparer.cc \ $(CERES_SRC_PATH)/solver.cc \ $(CERES_SRC_PATH)/solver_impl.cc \ $(CERES_SRC_PATH)/sparse_matrix.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 \ $(CERES_SRC_PATH)/trust_region_strategy.cc \ $(CERES_SRC_PATH)/types.cc \ $(CERES_SRC_PATH)/visibility_based_preconditioner.cc \ $(CERES_SRC_PATH)/visibility.cc \ $(CERES_SRC_PATH)/wall_time.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_d_d_d.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_2.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_3.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_4.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.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/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 endif LOCAL_MODULE := libceres include $(BUILD_STATIC_LIBRARY)