mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Compile miniglog into Ceres if enabled on all platforms.
- Previously if miniglog was being used (on a non-Android system), we compiled it into a separate library, against which Ceres then linked. - This was unsatisfactory as it required miniglog being built as a static library when building Ceres as a Windows DLL, because miniglog did not use the dllexport/dllimport statements, whilst for other platforms when building Ceres as a shared library, miniglog needed to be compiled as a shared library. - We now compile miniglog into Ceres on all platforms, not just on Android. - miniglog now uses the CERES_EXPORT macro to support Windows DLLs. This means that miniglog now depends on Ceres' internal/port.h (and thus internal/config.h) which define the CERES_EXPORT macro and control its behaviour respectively. - miniglog now also uses localtime_s, not localtime on Windows. Change-Id: Ia55b9af8b4e6decf067eab92f0a5c2d14358a1e9
This commit is contained in:
Alex Stewart
committed by
Sameer Agarwal
Sameer Agarwal
parent
0cc1bc5bbd
commit
ec6bfa5b12
+5
-6
@@ -142,11 +142,11 @@ ENDIF (MSVC)
|
||||
# to config the cmake. The PLATFORM can be one of OS, SIMULATOR and SIMULATOR64.
|
||||
# Check the documentation in iOS.cmake to find more options.
|
||||
#
|
||||
# After building, you will get libceres.a and libminiglog.a
|
||||
# You need to add these two libraries into your xcode project.
|
||||
# After building, you will get a single library: libceres.a, which
|
||||
# you need to add to your Xcode project.
|
||||
#
|
||||
# If you use the lapack and blas, then you also need to add Accelerate.framework
|
||||
# to your xcode project's linking dependency.
|
||||
# to your Xcode project's linking dependency.
|
||||
IF (IOS)
|
||||
MESSAGE(STATUS "Building Ceres for iOS platform: ${IOS_PLATFORM}")
|
||||
|
||||
@@ -361,10 +361,9 @@ ENDIF (GFLAGS)
|
||||
|
||||
# MiniGLog.
|
||||
IF (MINIGLOG)
|
||||
SET(GLOG_LIBRARIES miniglog)
|
||||
MESSAGE("-- Using minimal Glog substitute (library): ${GLOG_LIBRARIES}")
|
||||
MESSAGE("-- Compiling minimal glog substitute into Ceres.")
|
||||
SET(GLOG_INCLUDE_DIRS internal/ceres/miniglog)
|
||||
MESSAGE("-- Using minimal Glog substitute (include): ${GLOG_INCLUDE_DIRS}")
|
||||
MESSAGE("-- Using minimal glog substitute (include): ${GLOG_INCLUDE_DIRS}")
|
||||
|
||||
# Mark as advanced (remove from default GUI view) the glog search
|
||||
# variables in case user disables MINIGLOG, FindGlog did not find it, so
|
||||
|
||||
@@ -368,13 +368,13 @@ build for ``OS`` (``armv7``, ``armv7s``, ``arm64``), ``SIMULATOR`` (``i386``) or
|
||||
``SIMULATOR64`` (``x86_64``) separately and use ``LIPO`` to merge them into
|
||||
one static library. See ``cmake/iOS.cmake`` for more options.
|
||||
|
||||
After building, you will get ``libceres.a`` and ``libminiglog.a``
|
||||
You need to add these two libraries into your XCode project.
|
||||
After building, you will get a ``libceres.a`` library, which you will need to
|
||||
add to your Xcode project.
|
||||
|
||||
The default CMake configuration builds a bare bones version of Ceres
|
||||
Solver that only depends on Eigen and MINIGLOG, this should be
|
||||
sufficient for solving small to moderate sized problems (No
|
||||
``SPARSE_SCHUR``, ``SPARSE_NORMAL_CHOLESKY`` linear solvers and no
|
||||
Solver that only depends on Eigen (``MINIGLOG`` is compiled into Ceres if it is
|
||||
used), this should be sufficient for solving small to moderate sized problems
|
||||
(No ``SPARSE_SCHUR``, ``SPARSE_NORMAL_CHOLESKY`` linear solvers and no
|
||||
``CLUSTER_JACOBI`` and ``CLUSTER_TRIDIAGONAL`` preconditioners).
|
||||
|
||||
If you decide to use ``LAPACK`` and ``BLAS``, then you also need to add
|
||||
|
||||
@@ -136,24 +136,10 @@ ELSE (SCHUR_SPECIALIZATIONS)
|
||||
FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/*_d_d_d.cc)
|
||||
ENDIF (SCHUR_SPECIALIZATIONS)
|
||||
|
||||
# Primarily for Android, but optionally for others, use the minimal internal
|
||||
# Glog implementation.
|
||||
IF (MINIGLOG)
|
||||
IF (MSVC)
|
||||
# Miniglog needs to be built statically with Visual Studio since it
|
||||
# doesn't export any symbols with dllexport/dllimport.
|
||||
ADD_LIBRARY(miniglog STATIC miniglog/glog/logging.cc)
|
||||
ELSE()
|
||||
ADD_LIBRARY(miniglog miniglog/glog/logging.cc)
|
||||
ENDIF()
|
||||
INSTALL(TARGETS miniglog
|
||||
EXPORT CeresExport
|
||||
RUNTIME DESTINATION bin
|
||||
LIBRARY DESTINATION lib${LIB_SUFFIX}
|
||||
ARCHIVE DESTINATION lib${LIB_SUFFIX})
|
||||
ENDIF (MINIGLOG)
|
||||
|
||||
SET(CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GLOG_LIBRARIES})
|
||||
# Build the list of dependencies for Ceres based on the current configuration.
|
||||
IF (NOT MINIGLOG AND GLOG_FOUND)
|
||||
LIST(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GLOG_LIBRARIES})
|
||||
ENDIF (NOT MINIGLOG AND GLOG_FOUND)
|
||||
|
||||
IF (SUITESPARSE AND SUITESPARSE_FOUND)
|
||||
LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${SUITESPARSE_LIBRARIES})
|
||||
@@ -180,6 +166,12 @@ SET(CERES_LIBRARY_SOURCE
|
||||
${CERES_INTERNAL_HDRS}
|
||||
${CERES_INTERNAL_SCHUR_FILES})
|
||||
|
||||
# Primarily for Android, but optionally for others, compile the minimal
|
||||
# glog implementation into Ceres.
|
||||
IF (MINIGLOG)
|
||||
LIST(APPEND CERES_LIBRARY_SOURCE miniglog/glog/logging.cc)
|
||||
ENDIF (MINIGLOG)
|
||||
|
||||
ADD_LIBRARY(ceres ${CERES_LIBRARY_SOURCE})
|
||||
SET_TARGET_PROPERTIES(ceres PROPERTIES
|
||||
VERSION ${CERES_VERSION}
|
||||
@@ -215,8 +207,15 @@ IF (BUILD_TESTING AND GFLAGS)
|
||||
numeric_diff_test_utils.cc
|
||||
test_util.cc)
|
||||
|
||||
TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIBRARIES} ${GLOG_LIBRARIES})
|
||||
TARGET_LINK_LIBRARIES(test_util ceres gtest ${GLOG_LIBRARIES})
|
||||
IF (MINIGLOG)
|
||||
# When using miniglog, it is compiled into Ceres, thus Ceres becomes
|
||||
# the library against which other libraries should link for logging.
|
||||
TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIBRARIES} ceres)
|
||||
TARGET_LINK_LIBRARIES(test_util ceres gtest)
|
||||
ELSE (MINIGLOG)
|
||||
TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIBRARIES} ${GLOG_LIBRARIES})
|
||||
TARGET_LINK_LIBRARIES(test_util ceres gtest ${GLOG_LIBRARIES})
|
||||
ENDIF (MINIGLOG)
|
||||
|
||||
MACRO (CERES_TEST NAME)
|
||||
ADD_EXECUTABLE(${NAME}_test ${NAME}_test.cc)
|
||||
|
||||
@@ -105,6 +105,10 @@
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
// For appropriate definition of CERES_EXPORT macro.
|
||||
#include "ceres/internal/port.h"
|
||||
#include "ceres/internal/disable_warnings.h"
|
||||
|
||||
// Log severity level constants.
|
||||
const int FATAL = -3;
|
||||
const int ERROR = -2;
|
||||
@@ -125,7 +129,7 @@ const int FATAL = ::FATAL;
|
||||
// added, all log output is also sent to each sink through the send function.
|
||||
// In this implementation, WaitTillSent() is called immediately after the send.
|
||||
// This implementation is not thread safe.
|
||||
class LogSink {
|
||||
class CERES_EXPORT LogSink {
|
||||
public:
|
||||
virtual ~LogSink() {}
|
||||
virtual void send(LogSeverity severity,
|
||||
@@ -139,7 +143,7 @@ class LogSink {
|
||||
};
|
||||
|
||||
// Global set of log sinks. The actual object is defined in logging.cc.
|
||||
extern std::set<LogSink *> log_sinks_global;
|
||||
extern CERES_EXPORT std::set<LogSink *> log_sinks_global;
|
||||
|
||||
inline void InitGoogleLogging(char *argv) {
|
||||
// Do nothing; this is ignored.
|
||||
@@ -164,7 +168,7 @@ inline void RemoveLogSink(LogSink *sink) {
|
||||
// defined, output is directed to std::cerr. This class should not
|
||||
// be directly instantiated in code, rather it should be invoked through the
|
||||
// use of the log macros LG, LOG, or VLOG.
|
||||
class MessageLogger {
|
||||
class CERES_EXPORT MessageLogger {
|
||||
public:
|
||||
MessageLogger(const char *file, int line, const char *tag, int severity)
|
||||
: file_(file), line_(line), tag_(tag), severity_(severity) {
|
||||
@@ -223,10 +227,18 @@ class MessageLogger {
|
||||
private:
|
||||
void LogToSinks(int severity) {
|
||||
time_t rawtime;
|
||||
struct tm* timeinfo;
|
||||
|
||||
time (&rawtime);
|
||||
|
||||
struct tm* timeinfo;
|
||||
#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__)
|
||||
// On Windows, use secure localtime_s not localtime.
|
||||
struct tm windows_timeinfo;
|
||||
timeinfo = &windows_timeinfo;
|
||||
localtime_s(timeinfo, &rawtime);
|
||||
#else
|
||||
timeinfo = localtime(&rawtime);
|
||||
#endif
|
||||
|
||||
std::set<google::LogSink*>::iterator iter;
|
||||
// Send the log message to all sinks.
|
||||
for (iter = google::log_sinks_global.begin();
|
||||
@@ -271,7 +283,7 @@ class MessageLogger {
|
||||
// This class is used to explicitly ignore values in the conditional
|
||||
// logging macros. This avoids compiler warnings like "value computed
|
||||
// is not used" and "statement has no effect".
|
||||
class LoggerVoidify {
|
||||
class CERES_EXPORT LoggerVoidify {
|
||||
public:
|
||||
LoggerVoidify() { }
|
||||
// This has to be an operator with a precedence lower than << but
|
||||
@@ -409,4 +421,6 @@ T& CheckNotNull(const char *file, int line, const char *names, T& t) {
|
||||
CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
|
||||
#endif // NDEBUG
|
||||
|
||||
#include "ceres/internal/reenable_warnings.h"
|
||||
|
||||
#endif // CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_
|
||||
|
||||
Reference in New Issue
Block a user