1 # Ceres Solver - A fast non-linear least squares minimizer 2 # Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 3 # http://code.google.com/p/ceres-solver/ 4 # 5 # Redistribution and use in source and binary forms, with or without 6 # modification, are permitted provided that the following conditions are met: 7 # 8 # * Redistributions of source code must retain the above copyright notice, 9 # this list of conditions and the following disclaimer. 10 # * Redistributions in binary form must reproduce the above copyright notice, 11 # this list of conditions and the following disclaimer in the documentation 12 # and/or other materials provided with the distribution. 13 # * Neither the name of Google Inc. nor the names of its contributors may be 14 # used to endorse or promote products derived from this software without 15 # specific prior written permission. 16 # 17 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 # POSSIBILITY OF SUCH DAMAGE. 28 # 29 # Author: settinger (a] google.com (Scott Ettinger) 30 # keir (a] google.com (Keir Mierle) 31 # 32 # Builds Ceres for Android, using the standard toolchain (not standalone). It 33 # uses STLPort instead of GNU C++. This is useful for anyone wishing to ship 34 # GPL-free code. This cannot build the tests or other parts of Ceres; only the 35 # core libraries. If you need a more complete Ceres build, consider using the 36 # CMake toolchain (noting that the standalone toolchain doesn't work with 37 # STLPort). 38 # 39 # You will have to specify the environment EIGEN_PATH to point to the Eigen 40 # sources when building. For example: 41 # 42 # EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j 43 # 44 # It is also possible to specify CERES_EXTRA_DEFINES, in case you need to pass 45 # more definitions to the C compiler. 46 # 47 # IMPORTANT: 48 # 49 # The shared library built at the bottom is fake, broken, and empty. It exists 50 # only to force ndk-build to build the shared library. This shouldn't be 51 # necessary, but if it is missing, then ndk-build will do nothing when asked to 52 # build. The produced .so library is NON-FUNCTIONAL since it has no Ceres 53 # function-level dependencies. Instead, copy the static library: 54 # 55 # ../obj/local/armeabi-v7a/libceres.a 56 # 57 # into your own project, then link it into your binary in your Android.mk file. 58 # 59 # Reducing binary size: 60 # 61 # This build includes the Schur specializations, which cause binary bloat. If 62 # you don't need them for your application, consider adding: 63 # 64 # -DCERES_RESTRICT_SCHUR_SPECIALIZATION 65 # 66 # to the LOCAL_CFLAGS variable below, and commenting out all the 67 # generated/schur_eliminator_2_2_2.cc-alike files, leaving only the _d_d_d one. 68 # 69 # Similarly if you do not need the line search minimizer, consider adding 70 # 71 # -DCERES_NO_LINE_SEARCH_MINIMIZER 72 # 73 # Changing the logging library: 74 # 75 # Ceres Solver ships with a replacement for glog that provides a 76 # simple and small implementation that builds on Android. However, if 77 # you wish to supply a header only version yourself, then you may 78 # define CERES_GLOG_DIR to point to it. 79 80 LOCAL_PATH := $(call my-dir) 81 82 EIGEN_PATH := $(EIGEN_PATH) 83 CERES_INCLUDE_PATHS := $(CERES_EXTRA_INCLUDES) 84 CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal 85 CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres 86 CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../include 87 88 # Use the alternate glog implementation if provided by the user. 89 ifdef CERES_GLOG_DIR 90 CERES_INCLUDE_PATHS += $(CERES_GLOG_DIR) 91 else 92 CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres/miniglog 93 endif 94 CERES_SRC_PATH := ../internal/ceres 95 96 include $(CLEAR_VARS) 97 LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS) 98 LOCAL_C_INCLUDES += $(EIGEN_PATH) 99 100 LOCAL_CPP_EXTENSION := .cc 101 LOCAL_CFLAGS := $(CERES_EXTRA_DEFINES) \ 102 -DCERES_NO_LAPACK \ 103 -DCERES_NO_SUITESPARSE \ 104 -DCERES_NO_GFLAGS \ 105 -DCERES_NO_THREADS \ 106 -DCERES_NO_CXSPARSE \ 107 -DCERES_NO_TR1 \ 108 -DCERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG 109 110 # On Android NDK 8b, GCC gives spurrious warnings about ABI incompatibility for 111 # which there is no solution. Hide the warning instead. 112 LOCAL_CFLAGS += -Wno-psabi 113 114 LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \ 115 $(CERES_SRC_PATH)/blas.cc \ 116 $(CERES_SRC_PATH)/block_evaluate_preparer.cc \ 117 $(CERES_SRC_PATH)/block_jacobian_writer.cc \ 118 $(CERES_SRC_PATH)/block_jacobi_preconditioner.cc \ 119 $(CERES_SRC_PATH)/block_random_access_dense_matrix.cc \ 120 $(CERES_SRC_PATH)/block_random_access_matrix.cc \ 121 $(CERES_SRC_PATH)/block_random_access_sparse_matrix.cc \ 122 $(CERES_SRC_PATH)/block_sparse_matrix.cc \ 123 $(CERES_SRC_PATH)/block_structure.cc \ 124 $(CERES_SRC_PATH)/canonical_views_clustering.cc \ 125 $(CERES_SRC_PATH)/cgnr_solver.cc \ 126 $(CERES_SRC_PATH)/compressed_row_jacobian_writer.cc \ 127 $(CERES_SRC_PATH)/compressed_row_sparse_matrix.cc \ 128 $(CERES_SRC_PATH)/conditioned_cost_function.cc \ 129 $(CERES_SRC_PATH)/conjugate_gradients_solver.cc \ 130 $(CERES_SRC_PATH)/coordinate_descent_minimizer.cc \ 131 $(CERES_SRC_PATH)/corrector.cc \ 132 $(CERES_SRC_PATH)/dense_normal_cholesky_solver.cc \ 133 $(CERES_SRC_PATH)/dense_qr_solver.cc \ 134 $(CERES_SRC_PATH)/dense_sparse_matrix.cc \ 135 $(CERES_SRC_PATH)/detect_structure.cc \ 136 $(CERES_SRC_PATH)/dogleg_strategy.cc \ 137 $(CERES_SRC_PATH)/evaluator.cc \ 138 $(CERES_SRC_PATH)/file.cc \ 139 $(CERES_SRC_PATH)/gradient_checking_cost_function.cc \ 140 $(CERES_SRC_PATH)/implicit_schur_complement.cc \ 141 $(CERES_SRC_PATH)/iterative_schur_complement_solver.cc \ 142 $(CERES_SRC_PATH)/lapack.cc \ 143 $(CERES_SRC_PATH)/levenberg_marquardt_strategy.cc \ 144 $(CERES_SRC_PATH)/line_search.cc \ 145 $(CERES_SRC_PATH)/line_search_direction.cc \ 146 $(CERES_SRC_PATH)/line_search_minimizer.cc \ 147 $(CERES_SRC_PATH)/linear_least_squares_problems.cc \ 148 $(CERES_SRC_PATH)/linear_operator.cc \ 149 $(CERES_SRC_PATH)/linear_solver.cc \ 150 $(CERES_SRC_PATH)/local_parameterization.cc \ 151 $(CERES_SRC_PATH)/loss_function.cc \ 152 $(CERES_SRC_PATH)/low_rank_inverse_hessian.cc \ 153 $(CERES_SRC_PATH)/minimizer.cc \ 154 $(CERES_SRC_PATH)/normal_prior.cc \ 155 $(CERES_SRC_PATH)/parameter_block_ordering.cc \ 156 $(CERES_SRC_PATH)/partitioned_matrix_view.cc \ 157 $(CERES_SRC_PATH)/polynomial.cc \ 158 $(CERES_SRC_PATH)/preconditioner.cc \ 159 $(CERES_SRC_PATH)/problem.cc \ 160 $(CERES_SRC_PATH)/problem_impl.cc \ 161 $(CERES_SRC_PATH)/program.cc \ 162 $(CERES_SRC_PATH)/residual_block.cc \ 163 $(CERES_SRC_PATH)/residual_block_utils.cc \ 164 $(CERES_SRC_PATH)/runtime_numeric_diff_cost_function.cc \ 165 $(CERES_SRC_PATH)/schur_complement_solver.cc \ 166 $(CERES_SRC_PATH)/schur_eliminator.cc \ 167 $(CERES_SRC_PATH)/schur_jacobi_preconditioner.cc \ 168 $(CERES_SRC_PATH)/scratch_evaluate_preparer.cc \ 169 $(CERES_SRC_PATH)/solver.cc \ 170 $(CERES_SRC_PATH)/solver_impl.cc \ 171 $(CERES_SRC_PATH)/sparse_matrix.cc \ 172 $(CERES_SRC_PATH)/sparse_normal_cholesky_solver.cc \ 173 $(CERES_SRC_PATH)/split.cc \ 174 $(CERES_SRC_PATH)/stringprintf.cc \ 175 $(CERES_SRC_PATH)/suitesparse.cc \ 176 $(CERES_SRC_PATH)/triplet_sparse_matrix.cc \ 177 $(CERES_SRC_PATH)/trust_region_minimizer.cc \ 178 $(CERES_SRC_PATH)/trust_region_strategy.cc \ 179 $(CERES_SRC_PATH)/types.cc \ 180 $(CERES_SRC_PATH)/visibility_based_preconditioner.cc \ 181 $(CERES_SRC_PATH)/visibility.cc \ 182 $(CERES_SRC_PATH)/wall_time.cc \ 183 $(CERES_SRC_PATH)/generated/schur_eliminator_d_d_d.cc \ 184 $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_2.cc \ 185 $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_3.cc \ 186 $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_4.cc \ 187 $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \ 188 $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \ 189 $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \ 190 $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.cc \ 191 $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \ 192 $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \ 193 $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_4.cc \ 194 $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_d.cc \ 195 $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_2.cc \ 196 $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_3.cc \ 197 $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_4.cc \ 198 $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_d.cc 199 200 ifndef CERES_GLOG_DIR 201 LOCAL_SRC_FILES += $(CERES_SRC_PATH)/miniglog/glog/logging.cc 202 endif 203 204 LOCAL_MODULE := ceres 205 include $(BUILD_STATIC_LIBRARY) 206 207 # This is a fake library; see the file header comments. 208 include $(CLEAR_VARS) 209 LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS) 210 LOCAL_C_INCLUDES += $(EIGEN_PATH) 211 LOCAL_MODULE := forces_static_ceres_build_do_not_use 212 LOCAL_STATIC_LIBRARIES := ceres 213 include $(BUILD_SHARED_LIBRARY) 214
