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      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
     33 # standalone). It uses LLVM's libc++ as the standard library. It is a
     34 # modern BSD licensed implementation of the standard c++ library. We
     35 # do this to avoid any licensing issues that may arise from using
     36 # GCC's libstdc++ which is licensed under GPL3.
     37 #
     38 # Building
     39 # --------
     40 #
     41 # You will have to specify the environment EIGEN_PATH to point to the
     42 # Eigen sources when building. For example:
     43 #
     44 #   EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j
     45 #
     46 # It is also possible to specify CERES_EXTRA_DEFINES, in case you need
     47 # to pass more definitions to the C compiler.
     48 #
     49 # Using the library
     50 # -----------------
     51 # Copy the static library:
     52 #
     53 #   ../obj/local/armeabi-v7a/libceres.a
     54 #
     55 # into your own project, then link it into your binary in your
     56 # Android.mk file.
     57 #
     58 # Reducing binary size
     59 # --------------------
     60 # This build includes the Schur specializations, which increase the
     61 # size of the binary. If you don't need them for your application,
     62 # consider adding:
     63 #
     64 #   -DCERES_RESTRICT_SCHUR_SPECIALIZATION
     65 #
     66 # to the LOCAL_CFLAGS variable below.
     67 #
     68 # Changing the logging library
     69 # ----------------------------
     70 # Ceres Solver ships with a replacement for glog that provides a
     71 # simple and small implementation that builds on Android. However, if
     72 # you wish to supply a header only version yourself, then you may
     73 # define CERES_GLOG_DIR to point to it.
     74 
     75 LOCAL_PATH := $(call my-dir)
     76 
     77 EIGEN_PATH := external/eigen
     78 CERES_INCLUDE_PATHS := $(CERES_EXTRA_INCLUDES)
     79 CERES_INCLUDE_PATHS += $(LOCAL_PATH)/internal
     80 CERES_INCLUDE_PATHS += $(LOCAL_PATH)/internal/ceres
     81 CERES_INCLUDE_PATHS += $(LOCAL_PATH)/include
     82 CERES_INCLUDE_PATHS += $(LOCAL_PATH)/config
     83 
     84 # Use the alternate glog implementation if provided by the user.
     85 ifdef CERES_GLOG_DIR
     86   CERES_INCLUDE_PATHS += $(CERES_GLOG_DIR)
     87 else
     88   CERES_INCLUDE_PATHS += $(LOCAL_PATH)/internal/ceres/miniglog
     89 endif
     90 CERES_SRC_PATH := internal/ceres
     91 
     92 
     93 include $(CLEAR_VARS)
     94 LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS)
     95 LOCAL_C_INCLUDES += $(EIGEN_PATH)
     96 
     97 LOCAL_SDK_VERSION := 17
     98 LOCAL_NDK_STL_VARIANT := c++_static
     99 
    100 LOCAL_CPP_EXTENSION := .cc
    101 LOCAL_CFLAGS := $(CERES_EXTRA_DEFINES) \
    102                 -DCERES_NO_LAPACK \
    103                 -DCERES_NO_SUITESPARSE \
    104                 -DCERES_NO_THREADS \
    105                 -DCERES_NO_CXSPARSE \
    106                 -DCERES_STD_UNORDERED_MAP
    107 
    108 # The default relase optimization level is O2, but we want O3.
    109 LOCAL_CFLAGS += -O3 -w
    110 
    111 # Set the logging max level to 1.
    112 LOCAL_CFLAGS += -DMAX_LOG_LEVEL=-1
    113 
    114 # On Android NDK 8b, GCC gives spurrious warnings about ABI incompatibility for
    115 # which there is no solution. Hide the warning instead.
    116 LOCAL_CFLAGS += -Wno-psabi
    117 
    118 LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \
    119                    $(CERES_SRC_PATH)/blas.cc \
    120                    $(CERES_SRC_PATH)/block_evaluate_preparer.cc \
    121                    $(CERES_SRC_PATH)/block_jacobian_writer.cc \
    122                    $(CERES_SRC_PATH)/block_jacobi_preconditioner.cc \
    123                    $(CERES_SRC_PATH)/block_random_access_dense_matrix.cc \
    124                    $(CERES_SRC_PATH)/block_random_access_diagonal_matrix.cc \
    125                    $(CERES_SRC_PATH)/block_random_access_matrix.cc \
    126                    $(CERES_SRC_PATH)/block_random_access_sparse_matrix.cc \
    127                    $(CERES_SRC_PATH)/block_sparse_matrix.cc \
    128                    $(CERES_SRC_PATH)/block_structure.cc \
    129                    $(CERES_SRC_PATH)/callbacks.cc \
    130                    $(CERES_SRC_PATH)/canonical_views_clustering.cc \
    131                    $(CERES_SRC_PATH)/cgnr_solver.cc \
    132                    $(CERES_SRC_PATH)/compressed_row_jacobian_writer.cc \
    133                    $(CERES_SRC_PATH)/compressed_row_sparse_matrix.cc \
    134                    $(CERES_SRC_PATH)/conditioned_cost_function.cc \
    135                    $(CERES_SRC_PATH)/conjugate_gradients_solver.cc \
    136                    $(CERES_SRC_PATH)/coordinate_descent_minimizer.cc \
    137                    $(CERES_SRC_PATH)/corrector.cc \
    138                    $(CERES_SRC_PATH)/dense_normal_cholesky_solver.cc \
    139                    $(CERES_SRC_PATH)/dense_qr_solver.cc \
    140                    $(CERES_SRC_PATH)/dense_sparse_matrix.cc \
    141                    $(CERES_SRC_PATH)/detect_structure.cc \
    142                    $(CERES_SRC_PATH)/dogleg_strategy.cc \
    143                    $(CERES_SRC_PATH)/dynamic_compressed_row_jacobian_writer.cc \
    144                    $(CERES_SRC_PATH)/dynamic_compressed_row_sparse_matrix.cc \
    145                    $(CERES_SRC_PATH)/evaluator.cc \
    146                    $(CERES_SRC_PATH)/file.cc \
    147                    $(CERES_SRC_PATH)/gradient_checking_cost_function.cc \
    148                    $(CERES_SRC_PATH)/implicit_schur_complement.cc \
    149                    $(CERES_SRC_PATH)/iterative_schur_complement_solver.cc \
    150                    $(CERES_SRC_PATH)/lapack.cc \
    151                    $(CERES_SRC_PATH)/levenberg_marquardt_strategy.cc \
    152                    $(CERES_SRC_PATH)/line_search.cc \
    153                    $(CERES_SRC_PATH)/line_search_direction.cc \
    154                    $(CERES_SRC_PATH)/line_search_minimizer.cc \
    155                    $(CERES_SRC_PATH)/linear_least_squares_problems.cc \
    156                    $(CERES_SRC_PATH)/linear_operator.cc \
    157                    $(CERES_SRC_PATH)/linear_solver.cc \
    158                    $(CERES_SRC_PATH)/local_parameterization.cc \
    159                    $(CERES_SRC_PATH)/loss_function.cc \
    160                    $(CERES_SRC_PATH)/low_rank_inverse_hessian.cc \
    161                    $(CERES_SRC_PATH)/minimizer.cc \
    162                    $(CERES_SRC_PATH)/normal_prior.cc \
    163                    $(CERES_SRC_PATH)/parameter_block_ordering.cc \
    164                    $(CERES_SRC_PATH)/partitioned_matrix_view.cc \
    165                    $(CERES_SRC_PATH)/polynomial.cc \
    166                    $(CERES_SRC_PATH)/preconditioner.cc \
    167                    $(CERES_SRC_PATH)/problem.cc \
    168                    $(CERES_SRC_PATH)/problem_impl.cc \
    169                    $(CERES_SRC_PATH)/program.cc \
    170                    $(CERES_SRC_PATH)/reorder_program.cc \
    171                    $(CERES_SRC_PATH)/residual_block.cc \
    172                    $(CERES_SRC_PATH)/residual_block_utils.cc \
    173                    $(CERES_SRC_PATH)/schur_complement_solver.cc \
    174                    $(CERES_SRC_PATH)/schur_eliminator.cc \
    175                    $(CERES_SRC_PATH)/schur_jacobi_preconditioner.cc \
    176                    $(CERES_SRC_PATH)/scratch_evaluate_preparer.cc \
    177                    $(CERES_SRC_PATH)/solver.cc \
    178                    $(CERES_SRC_PATH)/solver_impl.cc \
    179                    $(CERES_SRC_PATH)/sparse_matrix.cc \
    180                    $(CERES_SRC_PATH)/sparse_normal_cholesky_solver.cc \
    181                    $(CERES_SRC_PATH)/split.cc \
    182                    $(CERES_SRC_PATH)/stringprintf.cc \
    183                    $(CERES_SRC_PATH)/summary_utils.cc \
    184                    $(CERES_SRC_PATH)/suitesparse.cc \
    185                    $(CERES_SRC_PATH)/triplet_sparse_matrix.cc \
    186                    $(CERES_SRC_PATH)/trust_region_minimizer.cc \
    187                    $(CERES_SRC_PATH)/trust_region_strategy.cc \
    188                    $(CERES_SRC_PATH)/types.cc \
    189                    $(CERES_SRC_PATH)/visibility_based_preconditioner.cc \
    190                    $(CERES_SRC_PATH)/visibility.cc \
    191                    $(CERES_SRC_PATH)/wall_time.cc \
    192                    $(CERES_SRC_PATH)/generated/schur_eliminator_d_d_d.cc \
    193                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_2.cc \
    194                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_3.cc \
    195                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_4.cc \
    196                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \
    197                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \
    198                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \
    199                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.cc \
    200                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \
    201                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \
    202                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_4.cc \
    203                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_8.cc \
    204                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_9.cc \
    205                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_d.cc \
    206                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_d_d.cc \
    207                    $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_2.cc \
    208                    $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_3.cc \
    209                    $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_4.cc \
    210                    $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_d.cc \
    211                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_d_d_d.cc \
    212                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_2.cc \
    213                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_3.cc \
    214                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_4.cc \
    215                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_d.cc \
    216                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_3.cc \
    217                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_4.cc \
    218                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_9.cc \
    219                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_d.cc \
    220                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_3.cc \
    221                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_4.cc \
    222                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_8.cc \
    223                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_9.cc \
    224                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_d.cc \
    225                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_d_d.cc \
    226                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_2.cc \
    227                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_3.cc \
    228                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_4.cc \
    229                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_d.cc
    230 
    231 ifndef CERES_GLOG_DIR
    232 LOCAL_SRC_FILES += $(CERES_SRC_PATH)/miniglog/glog/logging.cc
    233 endif
    234 
    235 LOCAL_MODULE := libceres
    236 include $(BUILD_STATIC_LIBRARY)
    237