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@google.com (Scott Ettinger) 30# keir@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 80LOCAL_PATH := $(call my-dir) 81 82EIGEN_PATH := $(EIGEN_PATH) 83CERES_INCLUDE_PATHS := $(CERES_EXTRA_INCLUDES) 84CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal 85CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres 86CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../include 87 88# Use the alternate glog implementation if provided by the user. 89ifdef CERES_GLOG_DIR 90 CERES_INCLUDE_PATHS += $(CERES_GLOG_DIR) 91else 92 CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres/miniglog 93endif 94CERES_SRC_PATH := ../internal/ceres 95 96include $(CLEAR_VARS) 97LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS) 98LOCAL_C_INCLUDES += $(EIGEN_PATH) 99 100LOCAL_CPP_EXTENSION := .cc 101LOCAL_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. 112LOCAL_CFLAGS += -Wno-psabi 113 114LOCAL_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 200ifndef CERES_GLOG_DIR 201LOCAL_SRC_FILES += $(CERES_SRC_PATH)/miniglog/glog/logging.cc 202endif 203 204LOCAL_MODULE := ceres 205include $(BUILD_STATIC_LIBRARY) 206 207# This is a fake library; see the file header comments. 208include $(CLEAR_VARS) 209LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS) 210LOCAL_C_INCLUDES += $(EIGEN_PATH) 211LOCAL_MODULE := forces_static_ceres_build_do_not_use 212LOCAL_STATIC_LIBRARIES := ceres 213include $(BUILD_SHARED_LIBRARY) 214