mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
747845fc82
The GradientChecker is a utility class written by William Rucklidge that can be used to check that the derivatives returned by a cost function match those returned by numerically differentiating the residuals returned by the same cost function. This is useful when developing CostFunction objects and testing them before plugging them into an optimization problem. Change-Id: Ic60f859b48b6246406448555d25556784e097b81
265 lines
8.6 KiB
CMake
265 lines
8.6 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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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_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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canonical_views_clustering.cc
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cgnr_solver.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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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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evaluator.cc
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file.cc
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gradient_checking_cost_function.cc
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implicit_schur_complement.cc
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iterative_schur_complement_solver.cc
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levenberg_marquardt_strategy.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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normal_prior.cc
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parameter_block_ordering.cc
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partitioned_matrix_view.cc
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polynomial_solver.cc
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problem.cc
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problem_impl.cc
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program.cc
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residual_block.cc
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residual_block_utils.cc
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runtime_numeric_diff_cost_function.cc
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schur_complement_solver.cc
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schur_eliminator.cc
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scratch_evaluate_preparer.cc
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solver.cc
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solver_impl.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_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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If (${PROTOBUF_FOUND})
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PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS matrix.proto)
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ENDIF (${PROTOBUF_FOUND})
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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/schur_eliminator_d_d_d.cc)
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ENDIF (${SCHUR_SPECIALIZATIONS})
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# For Android, use the internal Glog implementation.
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IF (${BUILD_ANDROID})
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ADD_LIBRARY(miniglog STATIC
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miniglog/glog/logging.cc)
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# The Android logging library that defines e.g. __android_log_print is
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# creatively named "log".
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TARGET_LINK_LIBRARIES(miniglog log)
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INSTALL(TARGETS miniglog
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib)
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ENDIF (${BUILD_ANDROID})
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SET(CERES_LIBRARY_DEPENDENCIES ${GLOG_LIB})
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IF (${GFLAGS})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${GFLAGS_LIB})
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ENDIF (${GFLAGS})
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IF (${SUITESPARSE_FOUND})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CHOLMOD_LIB})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CCOLAMD_LIB})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CAMD_LIB})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${COLAMD_LIB})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${AMD_LIB})
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IF (EXISTS ${SUITESPARSE_CONFIG_LIB})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${SUITESPARSE_CONFIG_LIB})
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ENDIF (EXISTS ${SUITESPARSE_CONFIG_LIB})
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IF (EXISTS ${METIS_LIB})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${METIS_LIB})
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ENDIF (EXISTS ${METIS_LIB})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${LAPACK_LIB})
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IF (EXISTS ${BLAS_LIB})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${BLAS_LIB})
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ENDIF (EXISTS ${BLAS_LIB})
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ENDIF (${SUITESPARSE_FOUND})
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IF (${CXSPARSE_FOUND})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CXSPARSE_LIB})
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ENDIF (${CXSPARSE_FOUND})
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IF (${OPENMP_FOUND})
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IF (NOT MSVC)
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES gomp)
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ENDIF (NOT MSVC)
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ENDIF (${OPENMP_FOUND})
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IF (${PROTOBUF_FOUND})
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LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${PROTOBUF_LIBRARY})
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ENDIF (${PROTOBUF_FOUND})
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SET(CERES_LIBRARY_SOURCE
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${PROTO_SRCS}
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${PROTO_HDRS}
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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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ADD_LIBRARY(ceres STATIC ${CERES_LIBRARY_SOURCE})
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TARGET_LINK_LIBRARIES(ceres ${CERES_LIBRARY_DEPENDENCIES})
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INSTALL(TARGETS ceres
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib)
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# Don't build a DLL on MSVC. Supporting Ceres as a DLL on Windows involves
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# nontrivial changes that we haven't made yet.
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IF (NOT MSVC AND NOT ${BUILD_ANDROID})
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ADD_LIBRARY(ceres_shared SHARED ${CERES_LIBRARY_SOURCE})
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TARGET_LINK_LIBRARIES(ceres_shared ${CERES_LIBRARY_DEPENDENCIES})
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SET_TARGET_PROPERTIES(ceres_shared PROPERTIES
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VERSION ${CERES_VERSION}
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SOVERSION ${CERES_ABI_VERSION})
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INSTALL(TARGETS ceres_shared
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib)
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ENDIF (NOT MSVC AND NOT ${BUILD_ANDROID})
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IF (${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 test_util.cc)
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TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIB} ${GLOG_LIB})
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MACRO (CERES_TEST NAME)
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ADD_EXECUTABLE(${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(block_random_access_dense_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(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(dense_sparse_matrix)
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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(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(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_solver)
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CERES_TEST(problem)
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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(runtime_numeric_diff_cost_function)
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CERES_TEST(schur_complement_solver)
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CERES_TEST(schur_eliminator)
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CERES_TEST(solver_impl)
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IF (${SUITESPARSE_FOUND})
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CERES_TEST(suitesparse)
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ENDIF (${SUITESPARSE_FOUND})
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CERES_TEST(symmetric_linear_solver)
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CERES_TEST(triplet_sparse_matrix)
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CERES_TEST(trust_region_minimizer)
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CERES_TEST(unsymmetric_linear_solver)
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CERES_TEST(visibility)
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CERES_TEST(visibility_based_preconditioner)
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# Put the large end to end test last.
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CERES_TEST(system)
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ENDIF (${BUILD_TESTING} AND ${GFLAGS})
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