1# Ceres Solver - A fast non-linear least squares minimizer
2# Copyright 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@google.com (Keir Mierle)
30#
31# This is an example Makefile for using Ceres. In practice, the Ceres authors
32# suggest using CMake instead, but if Make is needed for some reason, this
33# example serves to make it easy to do so.
34
35# This should point to place where you unpacked or cloned Ceres.
36CERES_SRC_DIR := /home/keir/wrk/ceres-extra
37
38# This should point to the place where you built Ceres. If you got Ceres by
39# installing it, then this will likely be /usr/local/lib.
40CERES_BIN_DIR := /home/keir/wrk/ceres-extra-bin
41
42# The place you unpacked or cloned Eigen. If Eigen was installed from packages,
43# this will likely be /usr/local/include.
44EIGEN_SRC_DIR := /home/keir/src/eigen-3.0.5
45
46INCLUDES := -I$(CERES_SRC_DIR)/include \
47            -I$(EIGEN_SRC_DIR)
48
49CERES_LIBRARY := -lceres
50CERES_LIBRARY_PATH := -L$(CERES_BIN_DIR)/lib
51CERES_LIBRARY_DEPENDENCIES = -lgflags -lglog
52
53# If Ceres was built with Suitesparse:
54CERES_LIBRARY_DEPENDENCIES += -llapack -lcamd -lamd -lccolamd -lcolamd -lcholmod
55
56# If Ceres was built with CXSparse:
57CERES_LIBRARY_DEPENDENCIES += -lcxsparse
58
59# If Ceres was built with OpenMP:
60CERES_LIBRARY_DEPENDENCIES += -fopenmp -lpthread -lgomp -lm
61
62# The set of object files for your application.
63APPLICATION_OBJS := simple_bundle_adjuster.o
64
65all: simple_bundle_adjuster
66
67simple_bundle_adjuster: $(APPLICATION_OBJS)
68	g++ \
69		$(APPLICATION_OBJS) \
70		$(CERES_LIBRARY_PATH) \
71		$(CERES_LIBRARY) \
72		$(CERES_LIBRARY_DEPENDENCIES) \
73		-o simple_bundle_adjuster
74
75# Disabling debug asserts via -DNDEBUG helps make Eigen faster, at the cost of
76# not getting handy assert failures when there are issues in your code.
77CFLAGS := -O2 -DNDEBUG
78
79# If you have files ending in .cpp instead of .cc, fix the next line
80# appropriately.
81%.o: %.cc $(DEPS)
82	g++ -c -o $@ $< $(CFLAGS) $(INCLUDES)
83