| # Ceres Solver - A fast non-linear least squares minimizer |
| # Copyright 2010, 2011, 2012 Google Inc. All rights reserved. |
| # http://code.google.com/p/ceres-solver/ |
| # |
| # 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 STLPort instead of GNU C++. This is useful for anyone wishing to ship |
| # GPL-free code. This cannot build the tests or other parts of Ceres; only the |
| # core libraries. If you need a more complete Ceres build, consider using the |
| # CMake toolchain (noting that the standalone toolchain doesn't work with |
| # STLPort). |
| # |
| # Reducing binary size: |
| # |
| # This build includes the Schur specializations, which cause binary bloat. If |
| # you don't need them for your application, consider adding: |
| # |
| # -DCERES_RESTRICT_SCHUR_SPECIALIZATION |
| # |
| # to the LOCAL_CFLAGS variable below, and commenting out all the |
| # generated/schur_eliminator_2_2_2.cc-alike files, leaving only the _d_d_d one. |
| # |
| # Similarly if you do not need the line search minimizer, consider adding |
| # |
| # -DCERES_NO_LINE_SEARCH_MINIMIZER |
| |
| LOCAL_PATH := $(call my-dir) |
| include $(CLEAR_VARS) |
| |
| LOCAL_MODULE := libceres |
| |
| LOCAL_SDK_VERSION := 17 |
| LOCAL_NDK_STL_VARIANT := stlport_static |
| |
| LOCAL_C_INCLUDES := $(LOCAL_PATH)/internal \ |
| $(LOCAL_PATH)/internal/ceres \ |
| $(LOCAL_PATH)/internal/ceres/miniglog \ |
| $(LOCAL_PATH)/include \ |
| external/eigen \ |
| |
| LOCAL_CPP_EXTENSION := .cc |
| LOCAL_CPPFLAGS := -DCERES_NO_PROTOCOL_BUFFERS \ |
| -DCERES_NO_LAPACK \ |
| -DCERES_NO_SUITESPARSE \ |
| -DCERES_NO_GFLAGS \ |
| -DCERES_NO_THREADS \ |
| -DCERES_NO_CXSPARSE \ |
| -DCERES_NO_TR1 \ |
| -DCERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG \ |
| -DMAX_LOG_LEVEL=-1 \ |
| -O3 -w |
| |
| # On Android NDK 8b, GCC gives spurrious warnings about ABI incompatibility for |
| # which there is no solution. Hide the warning instead. |
| LOCAL_CFLAGS += -Wno-psabi |
| |
| LOCAL_SRC_FILES := internal/ceres/array_utils.cc \ |
| internal/ceres/blas.cc \ |
| internal/ceres/block_evaluate_preparer.cc \ |
| internal/ceres/block_jacobian_writer.cc \ |
| internal/ceres/block_jacobi_preconditioner.cc \ |
| internal/ceres/block_random_access_dense_matrix.cc \ |
| internal/ceres/block_random_access_matrix.cc \ |
| internal/ceres/block_random_access_sparse_matrix.cc \ |
| internal/ceres/block_sparse_matrix.cc \ |
| internal/ceres/block_structure.cc \ |
| internal/ceres/canonical_views_clustering.cc \ |
| internal/ceres/cgnr_solver.cc \ |
| internal/ceres/compressed_row_jacobian_writer.cc \ |
| internal/ceres/compressed_row_sparse_matrix.cc \ |
| internal/ceres/conditioned_cost_function.cc \ |
| internal/ceres/conjugate_gradients_solver.cc \ |
| internal/ceres/coordinate_descent_minimizer.cc \ |
| internal/ceres/corrector.cc \ |
| internal/ceres/dense_normal_cholesky_solver.cc \ |
| internal/ceres/dense_qr_solver.cc \ |
| internal/ceres/dense_sparse_matrix.cc \ |
| internal/ceres/detect_structure.cc \ |
| internal/ceres/dogleg_strategy.cc \ |
| internal/ceres/evaluator.cc \ |
| internal/ceres/file.cc \ |
| internal/ceres/gradient_checking_cost_function.cc \ |
| internal/ceres/implicit_schur_complement.cc \ |
| internal/ceres/iterative_schur_complement_solver.cc \ |
| internal/ceres/lapack.cc \ |
| internal/ceres/levenberg_marquardt_strategy.cc \ |
| internal/ceres/line_search.cc \ |
| internal/ceres/line_search_direction.cc \ |
| internal/ceres/line_search_minimizer.cc \ |
| internal/ceres/linear_least_squares_problems.cc \ |
| internal/ceres/linear_operator.cc \ |
| internal/ceres/linear_solver.cc \ |
| internal/ceres/local_parameterization.cc \ |
| internal/ceres/loss_function.cc \ |
| internal/ceres/low_rank_inverse_hessian.cc \ |
| internal/ceres/minimizer.cc \ |
| internal/ceres/normal_prior.cc \ |
| internal/ceres/parameter_block_ordering.cc \ |
| internal/ceres/partitioned_matrix_view.cc \ |
| internal/ceres/polynomial.cc \ |
| internal/ceres/preconditioner.cc \ |
| internal/ceres/problem.cc \ |
| internal/ceres/problem_impl.cc \ |
| internal/ceres/program.cc \ |
| internal/ceres/residual_block.cc \ |
| internal/ceres/residual_block_utils.cc \ |
| internal/ceres/runtime_numeric_diff_cost_function.cc \ |
| internal/ceres/schur_complement_solver.cc \ |
| internal/ceres/schur_eliminator.cc \ |
| internal/ceres/schur_jacobi_preconditioner.cc \ |
| internal/ceres/scratch_evaluate_preparer.cc \ |
| internal/ceres/solver.cc \ |
| internal/ceres/solver_impl.cc \ |
| internal/ceres/sparse_matrix.cc \ |
| internal/ceres/sparse_normal_cholesky_solver.cc \ |
| internal/ceres/split.cc \ |
| internal/ceres/stringprintf.cc \ |
| internal/ceres/suitesparse.cc \ |
| internal/ceres/triplet_sparse_matrix.cc \ |
| internal/ceres/trust_region_minimizer.cc \ |
| internal/ceres/trust_region_strategy.cc \ |
| internal/ceres/types.cc \ |
| internal/ceres/visibility_based_preconditioner.cc \ |
| internal/ceres/visibility.cc \ |
| internal/ceres/wall_time.cc \ |
| internal/ceres/generated/schur_eliminator_d_d_d.cc \ |
| internal/ceres/generated/schur_eliminator_2_2_2.cc \ |
| internal/ceres/generated/schur_eliminator_2_2_3.cc \ |
| internal/ceres/generated/schur_eliminator_2_2_4.cc \ |
| internal/ceres/generated/schur_eliminator_2_2_d.cc \ |
| internal/ceres/generated/schur_eliminator_2_3_3.cc \ |
| internal/ceres/generated/schur_eliminator_2_3_4.cc \ |
| internal/ceres/generated/schur_eliminator_2_3_9.cc \ |
| internal/ceres/generated/schur_eliminator_2_3_d.cc \ |
| internal/ceres/generated/schur_eliminator_2_4_3.cc \ |
| internal/ceres/generated/schur_eliminator_2_4_4.cc \ |
| internal/ceres/generated/schur_eliminator_2_4_d.cc \ |
| internal/ceres/generated/schur_eliminator_4_4_2.cc \ |
| internal/ceres/generated/schur_eliminator_4_4_3.cc \ |
| internal/ceres/generated/schur_eliminator_4_4_4.cc \ |
| internal/ceres/generated/schur_eliminator_4_4_d.cc |
| |
| include $(BUILD_STATIC_LIBRARY) |
