mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 17:10:38 +08:00
Sameer Agarwal
81219fff78
It seems that Eigen's LLT factorization is broken on ARM. This patch enables the use of LDLT factorization instead of LLT factorization. The switch is controlled at compile time using a preprocessor define - CERES_USE_EIGEN_LDLT. By default we continue to use LLT factorization though. To make the switching easier without introducing the Cholesky factorization based inversion and linear system solve routines have been abstracted into two new functions. Android.mk has been updated to enable the LDLT factorization, but the cmake file has not been updated as I will leave it to Alex's capable hands to do proper detection of ARM as a target platform. Change-Id: Iffe3abd2ce894de2a388b454df3da909b482d5e5
252 lines
13 KiB
Makefile
252 lines
13 KiB
Makefile
# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2015 Google Inc. All rights reserved.
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# http://ceres-solver.org/
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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: settinger@google.com (Scott Ettinger)
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# keir@google.com (Keir Mierle)
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#
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# Builds Ceres for Android, using the standard toolchain (not
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# standalone). It uses LLVM's libc++ as the standard library. It is a
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# modern BSD licensed implementation of the standard c++ library. We
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# do this to avoid any licensing issues that may arise from using
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# GCC's libstdc++ which is licensed under GPL3.
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#
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# Building
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# --------
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#
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# You will have to specify the environment EIGEN_PATH to point to the
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# Eigen sources when building. For example:
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#
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# EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j
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#
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# It is also possible to specify CERES_EXTRA_DEFINES, in case you need
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# to pass more definitions to the C compiler.
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#
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# Using the library
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# -----------------
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# Copy the static library:
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#
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# ../obj/local/armeabi-v7a/libceres.a
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#
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# into your own project, then link it into your binary in your
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# Android.mk file.
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#
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# Reducing binary size
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# --------------------
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# This build includes the Schur specializations, which increase the
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# size of the binary. If you don't need them for your application,
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# consider adding:
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#
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# -DCERES_RESTRICT_SCHUR_SPECIALIZATION
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#
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# to the LOCAL_CFLAGS variable below.
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#
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# Changing the logging library
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# ----------------------------
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# Ceres Solver ships with a replacement for glog that provides a
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# simple and small implementation that builds on Android. However, if
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# you wish to supply a header only version yourself, then you may
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# define CERES_GLOG_DIR to point to it.
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LOCAL_PATH := $(call my-dir)
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# Ceres requires at least NDK version r9d to compile.
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ifneq ($(shell $(LOCAL_PATH)/assert_ndk_version.sh "r9d" $(NDK_ROOT)), true)
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$(error Ceres requires NDK version r9d or greater)
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endif
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EIGEN_PATH := $(EIGEN_PATH)
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CERES_INCLUDE_PATHS := $(CERES_EXTRA_INCLUDES)
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CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal
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CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres
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CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../include
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CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../config
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# Use the alternate glog implementation if provided by the user.
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ifdef CERES_GLOG_DIR
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CERES_INCLUDE_PATHS += $(CERES_GLOG_DIR)
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else
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CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres/miniglog
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endif
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CERES_SRC_PATH := ../internal/ceres
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include $(CLEAR_VARS)
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LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS)
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LOCAL_C_INCLUDES += $(EIGEN_PATH)
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LOCAL_CPP_EXTENSION := .cc
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LOCAL_CFLAGS := $(CERES_EXTRA_DEFINES) \
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-DCERES_NO_LAPACK \
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-DCERES_NO_SUITESPARSE \
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-DCERES_NO_CXSPARSE \
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-DCERES_STD_UNORDERED_MAP
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# On ARM we have experienced significant numerical problems with
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# Eigen's LLT implementation. Defining
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# CERES_USE_LDLT_FOR_EIGEN_CHOLESKY switches to using the slightly
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# more expensive but much more numerically well behaved LDLT
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# factorization algorithm.
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LOCAL_CFLAGS += -DCERES_USE_LDLT_FOR_EIGEN_CHOLESKY
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# If the user did not enable threads in CERES_EXTRA_DEFINES, then add
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# CERES_NO_THREADS.
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#
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# TODO(sameeragarwal): Update comments here and in the docs to
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# demonstrate how OpenMP can be used by the user.
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ifeq (,$(findstring CERES_HAVE_PTHREAD, $(LOCAL_CFLAGS)))
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LOCAL_CFLAGS += -DCERES_NO_THREADS
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endif
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LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \
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$(CERES_SRC_PATH)/blas.cc \
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$(CERES_SRC_PATH)/block_evaluate_preparer.cc \
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$(CERES_SRC_PATH)/block_jacobian_writer.cc \
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$(CERES_SRC_PATH)/block_jacobi_preconditioner.cc \
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$(CERES_SRC_PATH)/block_random_access_dense_matrix.cc \
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$(CERES_SRC_PATH)/block_random_access_diagonal_matrix.cc \
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$(CERES_SRC_PATH)/block_random_access_matrix.cc \
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$(CERES_SRC_PATH)/block_random_access_sparse_matrix.cc \
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$(CERES_SRC_PATH)/block_sparse_matrix.cc \
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$(CERES_SRC_PATH)/block_structure.cc \
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$(CERES_SRC_PATH)/callbacks.cc \
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$(CERES_SRC_PATH)/canonical_views_clustering.cc \
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$(CERES_SRC_PATH)/cgnr_solver.cc \
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$(CERES_SRC_PATH)/compressed_row_jacobian_writer.cc \
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$(CERES_SRC_PATH)/compressed_row_sparse_matrix.cc \
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$(CERES_SRC_PATH)/conditioned_cost_function.cc \
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$(CERES_SRC_PATH)/conjugate_gradients_solver.cc \
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$(CERES_SRC_PATH)/coordinate_descent_minimizer.cc \
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$(CERES_SRC_PATH)/corrector.cc \
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$(CERES_SRC_PATH)/covariance.cc \
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$(CERES_SRC_PATH)/covariance_impl.cc \
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$(CERES_SRC_PATH)/dense_normal_cholesky_solver.cc \
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$(CERES_SRC_PATH)/dense_qr_solver.cc \
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$(CERES_SRC_PATH)/dense_sparse_matrix.cc \
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$(CERES_SRC_PATH)/detect_structure.cc \
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$(CERES_SRC_PATH)/dogleg_strategy.cc \
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$(CERES_SRC_PATH)/dynamic_compressed_row_jacobian_writer.cc \
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$(CERES_SRC_PATH)/dynamic_compressed_row_sparse_matrix.cc \
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$(CERES_SRC_PATH)/eigen_dense_cholesky.cc \
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$(CERES_SRC_PATH)/evaluator.cc \
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$(CERES_SRC_PATH)/file.cc \
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$(CERES_SRC_PATH)/gradient_checking_cost_function.cc \
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$(CERES_SRC_PATH)/gradient_problem.cc \
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$(CERES_SRC_PATH)/gradient_problem_solver.cc \
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$(CERES_SRC_PATH)/implicit_schur_complement.cc \
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$(CERES_SRC_PATH)/iterative_schur_complement_solver.cc \
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$(CERES_SRC_PATH)/lapack.cc \
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$(CERES_SRC_PATH)/levenberg_marquardt_strategy.cc \
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$(CERES_SRC_PATH)/line_search.cc \
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$(CERES_SRC_PATH)/line_search_direction.cc \
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$(CERES_SRC_PATH)/line_search_minimizer.cc \
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$(CERES_SRC_PATH)/linear_least_squares_problems.cc \
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$(CERES_SRC_PATH)/linear_operator.cc \
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$(CERES_SRC_PATH)/line_search_preprocessor.cc \
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$(CERES_SRC_PATH)/linear_solver.cc \
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$(CERES_SRC_PATH)/local_parameterization.cc \
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$(CERES_SRC_PATH)/loss_function.cc \
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$(CERES_SRC_PATH)/low_rank_inverse_hessian.cc \
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$(CERES_SRC_PATH)/minimizer.cc \
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$(CERES_SRC_PATH)/normal_prior.cc \
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$(CERES_SRC_PATH)/parameter_block_ordering.cc \
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$(CERES_SRC_PATH)/partitioned_matrix_view.cc \
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$(CERES_SRC_PATH)/polynomial.cc \
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$(CERES_SRC_PATH)/preconditioner.cc \
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$(CERES_SRC_PATH)/preprocessor.cc \
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$(CERES_SRC_PATH)/problem.cc \
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$(CERES_SRC_PATH)/problem_impl.cc \
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$(CERES_SRC_PATH)/program.cc \
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$(CERES_SRC_PATH)/reorder_program.cc \
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$(CERES_SRC_PATH)/residual_block.cc \
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$(CERES_SRC_PATH)/residual_block_utils.cc \
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$(CERES_SRC_PATH)/schur_complement_solver.cc \
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$(CERES_SRC_PATH)/schur_eliminator.cc \
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$(CERES_SRC_PATH)/schur_jacobi_preconditioner.cc \
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$(CERES_SRC_PATH)/scratch_evaluate_preparer.cc \
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$(CERES_SRC_PATH)/solver.cc \
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$(CERES_SRC_PATH)/solver_utils.cc \
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$(CERES_SRC_PATH)/sparse_matrix.cc \
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$(CERES_SRC_PATH)/sparse_normal_cholesky_solver.cc \
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$(CERES_SRC_PATH)/split.cc \
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$(CERES_SRC_PATH)/stringprintf.cc \
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$(CERES_SRC_PATH)/suitesparse.cc \
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$(CERES_SRC_PATH)/triplet_sparse_matrix.cc \
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$(CERES_SRC_PATH)/trust_region_minimizer.cc \
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$(CERES_SRC_PATH)/trust_region_preprocessor.cc \
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$(CERES_SRC_PATH)/trust_region_strategy.cc \
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$(CERES_SRC_PATH)/types.cc \
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$(CERES_SRC_PATH)/visibility_based_preconditioner.cc \
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$(CERES_SRC_PATH)/visibility.cc \
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$(CERES_SRC_PATH)/wall_time.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_d_d_d.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_2_2.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_2_3.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_2_4.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_3_6.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_4_4.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_4_8.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_4_9.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_4_d.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_d_d.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_4_4_2.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_4_4_3.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_4_4_4.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_4_4_d.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_d_d_d.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_2.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_3.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_4.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_d.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_3.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_4.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_6.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_9.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_d.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_3.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_4.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_8.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_9.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_d.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_d_d.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_2.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_3.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_4.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_d.cc
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ifndef CERES_GLOG_DIR
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LOCAL_SRC_FILES += $(CERES_SRC_PATH)/miniglog/glog/logging.cc
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endif
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LOCAL_MODULE := ceres
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include $(BUILD_STATIC_LIBRARY)
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