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ceres-solver/jni/Android.mk
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Mike Vitus f408f89e8b Adds a Ceres Context structure. 
A Ceres Context holds common global state that can be re-used within
Ceres.  The Context current contains a thread pool if compiling with
C++11 threading support.  Threads are expensive to create and destroy so
it is good to maintain across multiple Ceres solves.

Tested by compiling with and without TBB support and ran unit tests. Ran
bazel as well.

Change-Id: I82f598dfae642aa0e81a6039dc174608a5e8dbfb
2018-02-26 10:37:53 -08:00

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13 KiB
Makefile
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# Ceres Solver - A fast non-linear least squares minimizer
# Copyright 2015 Google Inc. All rights reserved.
# http://ceres-solver.org/
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
# * Neither the name of Google Inc. nor the names of its contributors may be
# used to endorse or promote products derived from this software without
# specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Author: settinger@google.com (Scott Ettinger)
# keir@google.com (Keir Mierle)
#
# Builds Ceres for Android, using the standard toolchain (not
# standalone). It uses LLVM's libc++ as the standard library. It is a
# modern BSD licensed implementation of the standard c++ library. We
# do this to avoid any licensing issues that may arise from using
# GCC's libstdc++ which is licensed under GPL3.
#
# Building
# --------
#
# You will have to specify the environment EIGEN_PATH to point to the
# Eigen sources when building. For example:
#
# EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j
#
# It is also possible to specify CERES_EXTRA_DEFINES, in case you need
# to pass more definitions to the C compiler.
#
# Using the library
# -----------------
# Copy the static library:
#
# ../obj/local/armeabi-v7a/libceres.a
#
# into your own project, then link it into your binary in your
# Android.mk file.
#
# Reducing binary size
# --------------------
# This build includes the Schur specializations, which increase the
# size of the binary. If you don't need them for your application,
# consider adding:
#
# -DCERES_RESTRICT_SCHUR_SPECIALIZATION
#
# to the LOCAL_CFLAGS variable below.
#
# Changing the logging library
# ----------------------------
# Ceres Solver ships with a replacement for glog that provides a
# simple and small implementation that builds on Android. However, if
# you wish to supply a header only version yourself, then you may
# define CERES_GLOG_DIR to point to it.
LOCAL_PATH := $(call my-dir)
# Ceres requires at least NDK version r9d to compile.
ifneq ($(shell $(LOCAL_PATH)/assert_ndk_version.sh "r9d" $(NDK_ROOT)), true)
$(error Ceres requires NDK version r9d or greater)
endif
# Ceres requires Eigen to build.
ifndef EIGEN_PATH
$(error Ceres requires Eigen; please invoke via EIGEN_PATH=... ndk-build)
endif
EIGEN_PATH := $(EIGEN_PATH)
CERES_INCLUDE_PATHS := $(CERES_EXTRA_INCLUDES)
CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal
CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres
CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../include
CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../config
# Use the alternate glog implementation if provided by the user.
ifdef CERES_GLOG_DIR
CERES_INCLUDE_PATHS += $(CERES_GLOG_DIR)
else
CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres/miniglog
endif
CERES_SRC_PATH := ../internal/ceres
include $(CLEAR_VARS)
LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS)
LOCAL_C_INCLUDES += $(EIGEN_PATH)
LOCAL_CPP_EXTENSION := .cc
LOCAL_CFLAGS := $(CERES_EXTRA_DEFINES) \
-DCERES_NO_LAPACK \
-DCERES_NO_SUITESPARSE \
-DCERES_NO_CXSPARSE \
-DCERES_STD_UNORDERED_MAP
# If the user did not enable threads in CERES_EXTRA_DEFINES, then add
# CERES_NO_THREADS.
#
# TODO(sameeragarwal): Update comments here and in the docs to
# demonstrate how OpenMP can be used by the user.
ifeq (,$(findstring CERES_HAVE_PTHREAD, $(LOCAL_CFLAGS)))
LOCAL_CFLAGS += -DCERES_NO_THREADS
endif
LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \
$(CERES_SRC_PATH)/blas.cc \
$(CERES_SRC_PATH)/block_evaluate_preparer.cc \
$(CERES_SRC_PATH)/block_jacobian_writer.cc \
$(CERES_SRC_PATH)/block_jacobi_preconditioner.cc \
$(CERES_SRC_PATH)/block_random_access_dense_matrix.cc \
$(CERES_SRC_PATH)/block_random_access_diagonal_matrix.cc \
$(CERES_SRC_PATH)/block_random_access_matrix.cc \
$(CERES_SRC_PATH)/block_random_access_sparse_matrix.cc \
$(CERES_SRC_PATH)/block_sparse_matrix.cc \
$(CERES_SRC_PATH)/block_structure.cc \
$(CERES_SRC_PATH)/callbacks.cc \
$(CERES_SRC_PATH)/canonical_views_clustering.cc \
$(CERES_SRC_PATH)/cgnr_solver.cc \
$(CERES_SRC_PATH)/compressed_row_jacobian_writer.cc \
$(CERES_SRC_PATH)/compressed_row_sparse_matrix.cc \
$(CERES_SRC_PATH)/conditioned_cost_function.cc \
$(CERES_SRC_PATH)/conjugate_gradients_solver.cc \
$(CERES_SRC_PATH)/context.cc \
$(CERES_SRC_PATH)/context_impl.cc \
$(CERES_SRC_PATH)/coordinate_descent_minimizer.cc \
$(CERES_SRC_PATH)/corrector.cc \
$(CERES_SRC_PATH)/covariance.cc \
$(CERES_SRC_PATH)/covariance_impl.cc \
$(CERES_SRC_PATH)/dense_normal_cholesky_solver.cc \
$(CERES_SRC_PATH)/dense_qr_solver.cc \
$(CERES_SRC_PATH)/dense_sparse_matrix.cc \
$(CERES_SRC_PATH)/detect_structure.cc \
$(CERES_SRC_PATH)/dogleg_strategy.cc \
$(CERES_SRC_PATH)/dynamic_compressed_row_jacobian_writer.cc \
$(CERES_SRC_PATH)/dynamic_compressed_row_sparse_matrix.cc \
$(CERES_SRC_PATH)/dynamic_sparse_normal_cholesky_solver.cc \
$(CERES_SRC_PATH)/eigensparse.cc \
$(CERES_SRC_PATH)/evaluator.cc \
$(CERES_SRC_PATH)/file.cc \
$(CERES_SRC_PATH)/function_sample.cc \
$(CERES_SRC_PATH)/gradient_checker.cc \
$(CERES_SRC_PATH)/gradient_checking_cost_function.cc \
$(CERES_SRC_PATH)/gradient_problem.cc \
$(CERES_SRC_PATH)/gradient_problem_solver.cc \
$(CERES_SRC_PATH)/is_close.cc \
$(CERES_SRC_PATH)/implicit_schur_complement.cc \
$(CERES_SRC_PATH)/inner_product_computer.cc \
$(CERES_SRC_PATH)/iterative_schur_complement_solver.cc \
$(CERES_SRC_PATH)/lapack.cc \
$(CERES_SRC_PATH)/levenberg_marquardt_strategy.cc \
$(CERES_SRC_PATH)/line_search.cc \
$(CERES_SRC_PATH)/line_search_direction.cc \
$(CERES_SRC_PATH)/line_search_minimizer.cc \
$(CERES_SRC_PATH)/linear_least_squares_problems.cc \
$(CERES_SRC_PATH)/linear_operator.cc \
$(CERES_SRC_PATH)/line_search_preprocessor.cc \
$(CERES_SRC_PATH)/linear_solver.cc \
$(CERES_SRC_PATH)/local_parameterization.cc \
$(CERES_SRC_PATH)/loss_function.cc \
$(CERES_SRC_PATH)/low_rank_inverse_hessian.cc \
$(CERES_SRC_PATH)/minimizer.cc \
$(CERES_SRC_PATH)/normal_prior.cc \
$(CERES_SRC_PATH)/parameter_block_ordering.cc \
$(CERES_SRC_PATH)/partitioned_matrix_view.cc \
$(CERES_SRC_PATH)/polynomial.cc \
$(CERES_SRC_PATH)/preconditioner.cc \
$(CERES_SRC_PATH)/preprocessor.cc \
$(CERES_SRC_PATH)/problem.cc \
$(CERES_SRC_PATH)/problem_impl.cc \
$(CERES_SRC_PATH)/program.cc \
$(CERES_SRC_PATH)/reorder_program.cc \
$(CERES_SRC_PATH)/residual_block.cc \
$(CERES_SRC_PATH)/residual_block_utils.cc \
$(CERES_SRC_PATH)/schur_complement_solver.cc \
$(CERES_SRC_PATH)/schur_eliminator.cc \
$(CERES_SRC_PATH)/schur_jacobi_preconditioner.cc \
$(CERES_SRC_PATH)/schur_templates.cc \
$(CERES_SRC_PATH)/scratch_evaluate_preparer.cc \
$(CERES_SRC_PATH)/single_linkage_clustering.cc \
$(CERES_SRC_PATH)/solver.cc \
$(CERES_SRC_PATH)/solver_utils.cc \
$(CERES_SRC_PATH)/sparse_cholesky.cc \
$(CERES_SRC_PATH)/sparse_matrix.cc \
$(CERES_SRC_PATH)/sparse_normal_cholesky_solver.cc \
$(CERES_SRC_PATH)/split.cc \
$(CERES_SRC_PATH)/stringprintf.cc \
$(CERES_SRC_PATH)/subset_preconditioner.cc \
$(CERES_SRC_PATH)/suitesparse.cc \
$(CERES_SRC_PATH)/triplet_sparse_matrix.cc \
$(CERES_SRC_PATH)/trust_region_minimizer.cc \
$(CERES_SRC_PATH)/trust_region_preprocessor.cc \
$(CERES_SRC_PATH)/trust_region_step_evaluator.cc \
$(CERES_SRC_PATH)/trust_region_strategy.cc \
$(CERES_SRC_PATH)/types.cc \
$(CERES_SRC_PATH)/visibility_based_preconditioner.cc \
$(CERES_SRC_PATH)/visibility.cc \
$(CERES_SRC_PATH)/wall_time.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_d_d_d.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_2_2_2.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_2_2_3.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_2_2_4.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_2_3_6.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_2_4_4.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_2_4_8.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_2_4_9.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_2_4_d.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_2_d_d.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_4_4_2.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_4_4_3.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_4_4_4.cc \
$(CERES_SRC_PATH)/generated/schur_eliminator_4_4_d.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_d_d_d.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_2.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_3.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_4.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_d.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_3.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_4.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_6.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_9.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_d.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_3.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_4.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_8.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_9.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_d.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_d_d.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_2.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_3.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_4.cc \
$(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_d.cc
ifndef CERES_GLOG_DIR
LOCAL_SRC_FILES += $(CERES_SRC_PATH)/miniglog/glog/logging.cc
endif
LOCAL_MODULE := ceres
include $(BUILD_STATIC_LIBRARY)
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