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: keir (a] google.com (Keir Mierle) 30 31 SET(CERES_INTERNAL_SRC 32 array_utils.cc 33 blas.cc 34 block_evaluate_preparer.cc 35 block_jacobi_preconditioner.cc 36 block_jacobian_writer.cc 37 block_random_access_dense_matrix.cc 38 block_random_access_diagonal_matrix.cc 39 block_random_access_matrix.cc 40 block_random_access_sparse_matrix.cc 41 block_sparse_matrix.cc 42 block_structure.cc 43 c_api.cc 44 canonical_views_clustering.cc 45 cgnr_solver.cc 46 callbacks.cc 47 compressed_col_sparse_matrix_utils.cc 48 compressed_row_jacobian_writer.cc 49 compressed_row_sparse_matrix.cc 50 conditioned_cost_function.cc 51 conjugate_gradients_solver.cc 52 coordinate_descent_minimizer.cc 53 corrector.cc 54 covariance.cc 55 covariance_impl.cc 56 cxsparse.cc 57 dense_normal_cholesky_solver.cc 58 dense_qr_solver.cc 59 dense_sparse_matrix.cc 60 detect_structure.cc 61 dogleg_strategy.cc 62 dynamic_compressed_row_jacobian_writer.cc 63 dynamic_compressed_row_sparse_matrix.cc 64 evaluator.cc 65 file.cc 66 gradient_checking_cost_function.cc 67 implicit_schur_complement.cc 68 incomplete_lq_factorization.cc 69 iterative_schur_complement_solver.cc 70 levenberg_marquardt_strategy.cc 71 lapack.cc 72 line_search.cc 73 line_search_direction.cc 74 line_search_minimizer.cc 75 linear_least_squares_problems.cc 76 linear_operator.cc 77 linear_solver.cc 78 local_parameterization.cc 79 loss_function.cc 80 low_rank_inverse_hessian.cc 81 minimizer.cc 82 normal_prior.cc 83 parameter_block_ordering.cc 84 partitioned_matrix_view.cc 85 polynomial.cc 86 preconditioner.cc 87 problem.cc 88 problem_impl.cc 89 program.cc 90 reorder_program.cc 91 residual_block.cc 92 residual_block_utils.cc 93 schur_complement_solver.cc 94 schur_eliminator.cc 95 schur_jacobi_preconditioner.cc 96 scratch_evaluate_preparer.cc 97 single_linkage_clustering.cc 98 solver.cc 99 solver_impl.cc 100 sparse_matrix.cc 101 sparse_normal_cholesky_solver.cc 102 split.cc 103 stringprintf.cc 104 suitesparse.cc 105 summary_utils.cc 106 triplet_sparse_matrix.cc 107 trust_region_minimizer.cc 108 trust_region_strategy.cc 109 types.cc 110 visibility.cc 111 visibility_based_preconditioner.cc 112 wall_time.cc 113 ) 114 115 # Heuristic for determining LIB_SUFFIX. FHS recommends that 64-bit systems 116 # install native libraries to lib64 rather than lib. Most distros seem to 117 # follow this convention with a couple notable exceptions (Debian-based and 118 # Arch-based distros) which we try to detect here. 119 IF (CMAKE_SYSTEM_NAME MATCHES "Linux" AND 120 NOT DEFINED LIB_SUFFIX AND 121 NOT CMAKE_CROSSCOMPILING AND 122 CMAKE_SIZEOF_VOID_P EQUAL "8" AND 123 NOT EXISTS "/etc/debian_version" AND 124 NOT EXISTS "/etc/arch-release") 125 SET(LIB_SUFFIX "64") 126 ENDIF () 127 128 # Also depend on the header files so that they appear in IDEs. 129 FILE(GLOB CERES_INTERNAL_HDRS *.h) 130 131 # Include the specialized schur solvers. 132 IF (SCHUR_SPECIALIZATIONS) 133 FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/*.cc) 134 ELSE (SCHUR_SPECIALIZATIONS) 135 # Only the fully dynamic solver. The build is much faster this way. 136 FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/*_d_d_d.cc) 137 ENDIF (SCHUR_SPECIALIZATIONS) 138 139 # Build the list of dependencies for Ceres based on the current configuration. 140 IF (NOT MINIGLOG AND GLOG_FOUND) 141 LIST(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GLOG_LIBRARIES}) 142 ENDIF (NOT MINIGLOG AND GLOG_FOUND) 143 144 IF (SUITESPARSE AND SUITESPARSE_FOUND) 145 LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${SUITESPARSE_LIBRARIES}) 146 ENDIF (SUITESPARSE AND SUITESPARSE_FOUND) 147 148 IF (CXSPARSE AND CXSPARSE_FOUND) 149 LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CXSPARSE_LIBRARIES}) 150 ENDIF (CXSPARSE AND CXSPARSE_FOUND) 151 152 IF (BLAS_FOUND AND LAPACK_FOUND) 153 LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${LAPACK_LIBRARIES}) 154 LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${BLAS_LIBRARIES}) 155 ENDIF (BLAS_FOUND AND LAPACK_FOUND) 156 157 IF (OPENMP_FOUND) 158 IF (NOT MSVC) 159 LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES gomp) 160 LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CMAKE_THREAD_LIBS_INIT}) 161 ENDIF (NOT MSVC) 162 ENDIF (OPENMP_FOUND) 163 164 SET(CERES_LIBRARY_SOURCE 165 ${CERES_INTERNAL_SRC} 166 ${CERES_INTERNAL_HDRS} 167 ${CERES_INTERNAL_SCHUR_FILES}) 168 169 # Primarily for Android, but optionally for others, compile the minimal 170 # glog implementation into Ceres. 171 IF (MINIGLOG) 172 LIST(APPEND CERES_LIBRARY_SOURCE miniglog/glog/logging.cc) 173 ENDIF (MINIGLOG) 174 175 ADD_LIBRARY(ceres ${CERES_LIBRARY_SOURCE}) 176 SET_TARGET_PROPERTIES(ceres PROPERTIES 177 VERSION ${CERES_VERSION} 178 SOVERSION ${CERES_VERSION_MAJOR} 179 ) 180 181 IF (BUILD_SHARED_LIBS) 182 # When building a shared library, mark all external libraries as 183 # PRIVATE so they don't show up as a dependency. 184 TARGET_LINK_LIBRARIES(ceres 185 LINK_PUBLIC ${CERES_LIBRARY_PUBLIC_DEPENDENCIES} 186 LINK_PRIVATE ${CERES_LIBRARY_PRIVATE_DEPENDENCIES}) 187 ELSE (BUILD_SHARED_LIBS) 188 # When building a static library, all external libraries are 189 # PUBLIC(default) since the user needs to link to them. 190 # They will be listed in CeresTargets.cmake. 191 SET(CERES_LIBRARY_DEPENDENCIES 192 ${CERES_LIBRARY_PUBLIC_DEPENDENCIES} 193 ${CERES_LIBRARY_PRIVATE_DEPENDENCIES}) 194 TARGET_LINK_LIBRARIES(ceres ${CERES_LIBRARY_DEPENDENCIES}) 195 ENDIF (BUILD_SHARED_LIBS) 196 197 INSTALL(TARGETS ceres 198 EXPORT CeresExport 199 RUNTIME DESTINATION bin 200 LIBRARY DESTINATION lib${LIB_SUFFIX} 201 ARCHIVE DESTINATION lib${LIB_SUFFIX}) 202 203 IF (BUILD_TESTING AND GFLAGS) 204 ADD_LIBRARY(gtest gmock_gtest_all.cc gmock_main.cc) 205 ADD_LIBRARY(test_util 206 evaluator_test_utils.cc 207 numeric_diff_test_utils.cc 208 test_util.cc) 209 210 IF (MINIGLOG) 211 # When using miniglog, it is compiled into Ceres, thus Ceres becomes 212 # the library against which other libraries should link for logging. 213 TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIBRARIES} ceres) 214 TARGET_LINK_LIBRARIES(test_util ceres gtest) 215 ELSE (MINIGLOG) 216 TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIBRARIES} ${GLOG_LIBRARIES}) 217 TARGET_LINK_LIBRARIES(test_util ceres gtest ${GLOG_LIBRARIES}) 218 ENDIF (MINIGLOG) 219 220 MACRO (CERES_TEST NAME) 221 ADD_EXECUTABLE(${NAME}_test ${NAME}_test.cc) 222 TARGET_LINK_LIBRARIES(${NAME}_test test_util ceres gtest) 223 ADD_TEST(NAME ${NAME}_test 224 COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${NAME}_test 225 --test_srcdir 226 ${CMAKE_SOURCE_DIR}/data) 227 ENDMACRO (CERES_TEST) 228 229 CERES_TEST(array_utils) 230 CERES_TEST(autodiff) 231 CERES_TEST(autodiff_cost_function) 232 CERES_TEST(autodiff_local_parameterization) 233 CERES_TEST(block_random_access_dense_matrix) 234 CERES_TEST(block_random_access_diagonal_matrix) 235 CERES_TEST(block_random_access_sparse_matrix) 236 CERES_TEST(block_sparse_matrix) 237 CERES_TEST(c_api) 238 CERES_TEST(canonical_views_clustering) 239 CERES_TEST(compressed_row_sparse_matrix) 240 CERES_TEST(conditioned_cost_function) 241 CERES_TEST(corrector) 242 CERES_TEST(cost_function_to_functor) 243 CERES_TEST(covariance) 244 CERES_TEST(dense_sparse_matrix) 245 CERES_TEST(dynamic_autodiff_cost_function) 246 CERES_TEST(dynamic_compressed_row_sparse_matrix) 247 CERES_TEST(dynamic_numeric_diff_cost_function) 248 CERES_TEST(evaluator) 249 CERES_TEST(gradient_checker) 250 CERES_TEST(gradient_checking_cost_function) 251 CERES_TEST(graph) 252 CERES_TEST(graph_algorithms) 253 CERES_TEST(implicit_schur_complement) 254 CERES_TEST(incomplete_lq_factorization) 255 CERES_TEST(iterative_schur_complement_solver) 256 CERES_TEST(jet) 257 CERES_TEST(levenberg_marquardt_strategy) 258 CERES_TEST(dogleg_strategy) 259 CERES_TEST(local_parameterization) 260 CERES_TEST(loss_function) 261 CERES_TEST(minimizer) 262 CERES_TEST(normal_prior) 263 CERES_TEST(numeric_diff_cost_function) 264 CERES_TEST(numeric_diff_functor) 265 CERES_TEST(ordered_groups) 266 CERES_TEST(parameter_block) 267 CERES_TEST(parameter_block_ordering) 268 CERES_TEST(partitioned_matrix_view) 269 CERES_TEST(polynomial) 270 CERES_TEST(problem) 271 CERES_TEST(program) 272 CERES_TEST(reorder_program) 273 CERES_TEST(residual_block) 274 CERES_TEST(residual_block_utils) 275 CERES_TEST(rotation) 276 CERES_TEST(schur_complement_solver) 277 CERES_TEST(schur_eliminator) 278 CERES_TEST(single_linkage_clustering) 279 CERES_TEST(small_blas) 280 CERES_TEST(solver) 281 CERES_TEST(solver_impl) 282 283 # TODO(sameeragarwal): This test should ultimately be made 284 # independent of SuiteSparse. 285 IF (SUITESPARSE AND SUITESPARSE_FOUND) 286 CERES_TEST(compressed_col_sparse_matrix_utils) 287 ENDIF (SUITESPARSE AND SUITESPARSE_FOUND) 288 289 CERES_TEST(symmetric_linear_solver) 290 CERES_TEST(triplet_sparse_matrix) 291 CERES_TEST(trust_region_minimizer) 292 CERES_TEST(unsymmetric_linear_solver) 293 CERES_TEST(visibility) 294 CERES_TEST(visibility_based_preconditioner) 295 296 # Put the large end to end test last. 297 CERES_TEST(system) 298 ENDIF (BUILD_TESTING AND GFLAGS) 299
