mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sameer Agarwal
4ad9149082
1. Extend the implementation of BlockRandomAccessDiagonalMatrix by adding Invert and RightMultiply methods. 2. Simplify the implementation of the Schur Jacobi preconditioner using these new methods. 3. Replace the custom storage used inside Block Jacobi preconditioner with BlockRandomAccessDiagonalMatrix and simplify its implementation too. Change-Id: I9d4888b35f0f228c08244abbdda5298b3ce9c466
304 lines
10 KiB
CMake
304 lines
10 KiB
CMake
# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
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# http://code.google.com/p/ceres-solver/
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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# * Neither the name of Google Inc. nor the names of its contributors may be
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# used to endorse or promote products derived from this software without
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# specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: keir@google.com (Keir Mierle)
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SET(CERES_INTERNAL_SRC
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array_utils.cc
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blas.cc
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block_evaluate_preparer.cc
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block_jacobi_preconditioner.cc
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block_jacobian_writer.cc
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block_random_access_dense_matrix.cc
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block_random_access_diagonal_matrix.cc
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block_random_access_matrix.cc
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block_random_access_sparse_matrix.cc
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block_sparse_matrix.cc
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block_structure.cc
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c_api.cc
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canonical_views_clustering.cc
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cgnr_solver.cc
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callbacks.cc
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compressed_col_sparse_matrix_utils.cc
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compressed_row_jacobian_writer.cc
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compressed_row_sparse_matrix.cc
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conditioned_cost_function.cc
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conjugate_gradients_solver.cc
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coordinate_descent_minimizer.cc
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corrector.cc
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covariance.cc
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covariance_impl.cc
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cxsparse.cc
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dense_normal_cholesky_solver.cc
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dense_qr_solver.cc
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dense_sparse_matrix.cc
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detect_structure.cc
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dogleg_strategy.cc
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dynamic_compressed_row_jacobian_writer.cc
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dynamic_compressed_row_sparse_matrix.cc
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evaluator.cc
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file.cc
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gradient_checking_cost_function.cc
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gradient_problem.cc
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gradient_problem_solver.cc
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implicit_schur_complement.cc
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incomplete_lq_factorization.cc
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iterative_schur_complement_solver.cc
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levenberg_marquardt_strategy.cc
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lapack.cc
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line_search.cc
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line_search_direction.cc
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line_search_minimizer.cc
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line_search_preprocessor.cc
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linear_least_squares_problems.cc
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linear_operator.cc
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linear_solver.cc
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local_parameterization.cc
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loss_function.cc
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low_rank_inverse_hessian.cc
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minimizer.cc
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normal_prior.cc
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parameter_block_ordering.cc
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partitioned_matrix_view.cc
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polynomial.cc
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preconditioner.cc
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preprocessor.cc
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problem.cc
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problem_impl.cc
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program.cc
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reorder_program.cc
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residual_block.cc
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residual_block_utils.cc
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schur_complement_solver.cc
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schur_eliminator.cc
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schur_jacobi_preconditioner.cc
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scratch_evaluate_preparer.cc
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single_linkage_clustering.cc
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solver.cc
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solver_utils.cc
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sparse_matrix.cc
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sparse_normal_cholesky_solver.cc
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split.cc
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stringprintf.cc
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suitesparse.cc
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triplet_sparse_matrix.cc
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trust_region_preprocessor.cc
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trust_region_minimizer.cc
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trust_region_strategy.cc
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types.cc
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visibility.cc
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visibility_based_preconditioner.cc
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wall_time.cc
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)
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# Heuristic for determining LIB_SUFFIX. FHS recommends that 64-bit systems
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# install native libraries to lib64 rather than lib. Most distros seem to
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# follow this convention with a couple notable exceptions (Debian-based and
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# Arch-based distros) which we try to detect here.
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IF (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
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NOT DEFINED LIB_SUFFIX AND
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NOT CMAKE_CROSSCOMPILING AND
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CMAKE_SIZEOF_VOID_P EQUAL "8" AND
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NOT EXISTS "/etc/debian_version" AND
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NOT EXISTS "/etc/arch-release")
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SET(LIB_SUFFIX "64")
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ENDIF ()
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# Also depend on the header files so that they appear in IDEs.
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FILE(GLOB CERES_INTERNAL_HDRS *.h)
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# Include the specialized schur solvers.
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IF (SCHUR_SPECIALIZATIONS)
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FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/*.cc)
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ELSE (SCHUR_SPECIALIZATIONS)
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# Only the fully dynamic solver. The build is much faster this way.
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FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/*_d_d_d.cc)
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ENDIF (SCHUR_SPECIALIZATIONS)
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# Build the list of dependencies for Ceres based on the current configuration.
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IF (NOT MINIGLOG AND GLOG_FOUND)
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LIST(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GLOG_LIBRARIES})
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ENDIF (NOT MINIGLOG AND GLOG_FOUND)
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IF (SUITESPARSE AND SUITESPARSE_FOUND)
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LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${SUITESPARSE_LIBRARIES})
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ENDIF (SUITESPARSE AND SUITESPARSE_FOUND)
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IF (CXSPARSE AND CXSPARSE_FOUND)
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LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CXSPARSE_LIBRARIES})
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ENDIF (CXSPARSE AND CXSPARSE_FOUND)
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IF (BLAS_FOUND AND LAPACK_FOUND)
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LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${LAPACK_LIBRARIES})
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LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${BLAS_LIBRARIES})
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ENDIF (BLAS_FOUND AND LAPACK_FOUND)
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IF (OPENMP_FOUND)
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IF (NOT MSVC)
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LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES gomp)
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LIST(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CMAKE_THREAD_LIBS_INIT})
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ENDIF (NOT MSVC)
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ENDIF (OPENMP_FOUND)
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SET(CERES_LIBRARY_SOURCE
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${CERES_INTERNAL_SRC}
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${CERES_INTERNAL_HDRS}
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${CERES_INTERNAL_SCHUR_FILES})
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# Primarily for Android, but optionally for others, compile the minimal
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# glog implementation into Ceres.
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IF (MINIGLOG)
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LIST(APPEND CERES_LIBRARY_SOURCE miniglog/glog/logging.cc)
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ENDIF (MINIGLOG)
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ADD_LIBRARY(ceres ${CERES_LIBRARY_SOURCE})
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SET_TARGET_PROPERTIES(ceres PROPERTIES
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VERSION ${CERES_VERSION}
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SOVERSION ${CERES_VERSION_MAJOR}
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)
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IF (BUILD_SHARED_LIBS)
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# When building a shared library, mark all external libraries as
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# PRIVATE so they don't show up as a dependency.
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TARGET_LINK_LIBRARIES(ceres
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LINK_PUBLIC ${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
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LINK_PRIVATE ${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
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ELSE (BUILD_SHARED_LIBS)
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# When building a static library, all external libraries are
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# PUBLIC(default) since the user needs to link to them.
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# They will be listed in CeresTargets.cmake.
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SET(CERES_LIBRARY_DEPENDENCIES
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${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
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${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
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TARGET_LINK_LIBRARIES(ceres ${CERES_LIBRARY_DEPENDENCIES})
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ENDIF (BUILD_SHARED_LIBS)
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INSTALL(TARGETS ceres
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EXPORT CeresExport
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib${LIB_SUFFIX}
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ARCHIVE DESTINATION lib${LIB_SUFFIX})
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IF (BUILD_TESTING AND GFLAGS)
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ADD_LIBRARY(gtest gmock_gtest_all.cc gmock_main.cc)
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ADD_LIBRARY(test_util
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evaluator_test_utils.cc
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numeric_diff_test_utils.cc
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test_util.cc)
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IF (MINIGLOG)
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# When using miniglog, it is compiled into Ceres, thus Ceres becomes
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# the library against which other libraries should link for logging.
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TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIBRARIES} ceres)
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TARGET_LINK_LIBRARIES(test_util ceres gtest)
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ELSE (MINIGLOG)
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TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIBRARIES} ${GLOG_LIBRARIES})
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TARGET_LINK_LIBRARIES(test_util ceres gtest ${GLOG_LIBRARIES})
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ENDIF (MINIGLOG)
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MACRO (CERES_TEST NAME)
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ADD_EXECUTABLE(${NAME}_test ${NAME}_test.cc)
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TARGET_LINK_LIBRARIES(${NAME}_test test_util ceres gtest)
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ADD_TEST(NAME ${NAME}_test
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COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${NAME}_test
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--test_srcdir
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${CMAKE_SOURCE_DIR}/data)
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ENDMACRO (CERES_TEST)
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CERES_TEST(array_utils)
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CERES_TEST(autodiff)
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CERES_TEST(autodiff_cost_function)
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CERES_TEST(autodiff_local_parameterization)
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CERES_TEST(block_jacobi_preconditioner)
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CERES_TEST(block_random_access_dense_matrix)
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CERES_TEST(block_random_access_diagonal_matrix)
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CERES_TEST(block_random_access_sparse_matrix)
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CERES_TEST(block_sparse_matrix)
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CERES_TEST(c_api)
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CERES_TEST(canonical_views_clustering)
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CERES_TEST(compressed_row_sparse_matrix)
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CERES_TEST(conditioned_cost_function)
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CERES_TEST(corrector)
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CERES_TEST(cost_function_to_functor)
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CERES_TEST(covariance)
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CERES_TEST(dense_sparse_matrix)
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CERES_TEST(dynamic_autodiff_cost_function)
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CERES_TEST(dynamic_compressed_row_sparse_matrix)
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CERES_TEST(dynamic_numeric_diff_cost_function)
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CERES_TEST(evaluator)
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CERES_TEST(gradient_checker)
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CERES_TEST(gradient_checking_cost_function)
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CERES_TEST(graph)
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CERES_TEST(graph_algorithms)
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CERES_TEST(implicit_schur_complement)
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CERES_TEST(incomplete_lq_factorization)
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CERES_TEST(iterative_schur_complement_solver)
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CERES_TEST(jet)
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CERES_TEST(levenberg_marquardt_strategy)
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CERES_TEST(dogleg_strategy)
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CERES_TEST(line_search_preprocessor)
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CERES_TEST(local_parameterization)
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CERES_TEST(loss_function)
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CERES_TEST(minimizer)
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CERES_TEST(normal_prior)
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CERES_TEST(numeric_diff_cost_function)
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CERES_TEST(ordered_groups)
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CERES_TEST(parameter_block)
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CERES_TEST(parameter_block_ordering)
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CERES_TEST(partitioned_matrix_view)
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CERES_TEST(polynomial)
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CERES_TEST(problem)
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CERES_TEST(program)
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CERES_TEST(reorder_program)
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CERES_TEST(residual_block)
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CERES_TEST(residual_block_utils)
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CERES_TEST(rotation)
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CERES_TEST(schur_complement_solver)
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CERES_TEST(schur_eliminator)
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CERES_TEST(single_linkage_clustering)
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CERES_TEST(small_blas)
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CERES_TEST(solver)
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# TODO(sameeragarwal): This test should ultimately be made
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# independent of SuiteSparse.
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IF (SUITESPARSE AND SUITESPARSE_FOUND)
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CERES_TEST(compressed_col_sparse_matrix_utils)
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ENDIF (SUITESPARSE AND SUITESPARSE_FOUND)
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CERES_TEST(symmetric_linear_solver)
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CERES_TEST(triplet_sparse_matrix)
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CERES_TEST(trust_region_minimizer)
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CERES_TEST(trust_region_preprocessor)
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CERES_TEST(unsymmetric_linear_solver)
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CERES_TEST(visibility)
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CERES_TEST(visibility_based_preconditioner)
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# Put the large end to end test last.
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CERES_TEST(system)
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ENDIF (BUILD_TESTING AND GFLAGS)
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