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
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
75LOCAL_PATH := $(call my-dir)
76
77EIGEN_PATH := external/eigen
78CERES_INCLUDE_PATHS := $(CERES_EXTRA_INCLUDES)
79CERES_INCLUDE_PATHS += $(LOCAL_PATH)/internal
80CERES_INCLUDE_PATHS += $(LOCAL_PATH)/internal/ceres
81CERES_INCLUDE_PATHS += $(LOCAL_PATH)/include
82CERES_INCLUDE_PATHS += $(LOCAL_PATH)/config
83
84# Use the alternate glog implementation if provided by the user.
85ifdef CERES_GLOG_DIR
86  CERES_INCLUDE_PATHS += $(CERES_GLOG_DIR)
87else
88  CERES_INCLUDE_PATHS += $(LOCAL_PATH)/internal/ceres/miniglog
89endif
90CERES_SRC_PATH := internal/ceres
91
92
93include $(CLEAR_VARS)
94LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS)
95LOCAL_C_INCLUDES += $(EIGEN_PATH)
96
97LOCAL_SDK_VERSION := 17
98LOCAL_NDK_STL_VARIANT := c++_static
99
100LOCAL_CPP_EXTENSION := .cc
101LOCAL_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.
109LOCAL_CFLAGS += -O3 -w
110
111# Set the logging max level to 1.
112LOCAL_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.
116LOCAL_CFLAGS += -Wno-psabi
117
118LOCAL_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
231ifndef CERES_GLOG_DIR
232LOCAL_SRC_FILES += $(CERES_SRC_PATH)/miniglog/glog/logging.cc
233endif
234
235LOCAL_MODULE := libceres
236include $(BUILD_STATIC_LIBRARY)
237