1 # Ceres Solver - A fast non-linear least squares minimizer
2 # Copyright 2015 Google Inc. All rights reserved.
3 # http://ceres-solver.org/
5 # Redistribution and use in source and binary forms, with or without
6 # modification, are permitted provided that the following conditions are met:
8 # * Redistributions of source code must retain the above copyright notice,
9 # this list of conditions and the following disclaimer.
10 # * Redistributions in binary form must reproduce the above copyright notice,
11 # this list of conditions and the following disclaimer in the documentation
12 # and/or other materials provided with the distribution.
13 # * Neither the name of Google Inc. nor the names of its contributors may be
14 # used to endorse or promote products derived from this software without
15 # specific prior written permission.
17 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 # POSSIBILITY OF SUCH DAMAGE.
29 # Author: keir@google.com (Keir Mierle)
31 # Only Ceres itself should be compiled with CERES_BUILDING_SHARED_LIBRARY
32 # defined, any users of Ceres will have CERES_USING_SHARED_LIBRARY defined
33 # for them in Ceres' config.h if appropriate.
34 if (BUILD_SHARED_LIBS)
35 remove_definitions(-DCERES_BUILDING_SHARED_LIBRARY)
38 add_executable(helloworld helloworld.cc)
39 target_link_libraries(helloworld ceres)
41 add_executable(helloworld_numeric_diff helloworld_numeric_diff.cc)
42 target_link_libraries(helloworld_numeric_diff ceres)
44 add_executable(helloworld_analytic_diff helloworld_analytic_diff.cc)
45 target_link_libraries(helloworld_analytic_diff ceres)
47 add_executable(curve_fitting curve_fitting.cc)
48 target_link_libraries(curve_fitting ceres)
50 add_executable(rosenbrock rosenbrock.cc)
51 target_link_libraries(rosenbrock ceres)
53 add_executable(curve_fitting_c curve_fitting.c)
54 target_link_libraries(curve_fitting_c ceres)
55 # Force CMake to link curve_fitting_c using the C linker, this is important
56 # when Ceres was compiled using C++11 to ensure that -std=c++11 is not passed
58 set_target_properties(curve_fitting_c PROPERTIES LINKER_LANGUAGE C)
59 # As this is a C file #including <math.h> we have to explicitly add the math
60 # library (libm). Although some compilers (dependent upon options) will accept
61 # the indirect link to libm via Ceres, at least GCC 4.8 on pure Debian won't.
63 target_link_libraries(curve_fitting_c m)
66 add_executable(ellipse_approximation ellipse_approximation.cc)
67 target_link_libraries(ellipse_approximation ceres)
69 add_executable(robust_curve_fitting robust_curve_fitting.cc)
70 target_link_libraries(robust_curve_fitting ceres)
72 add_executable(simple_bundle_adjuster simple_bundle_adjuster.cc)
73 target_link_libraries(simple_bundle_adjuster ceres)
76 add_executable(powell powell.cc)
77 target_link_libraries(powell ceres ${GFLAGS_LIBRARIES})
79 add_executable(nist nist.cc)
80 target_link_libraries(nist ceres ${GFLAGS_LIBRARIES})
82 add_executable(more_garbow_hillstrom more_garbow_hillstrom.cc)
83 target_link_libraries(more_garbow_hillstrom ceres ${GFLAGS_LIBRARIES})
85 add_executable(circle_fit circle_fit.cc)
86 target_link_libraries(circle_fit ceres ${GFLAGS_LIBRARIES})
88 add_executable(bundle_adjuster
91 target_link_libraries(bundle_adjuster ceres ${GFLAGS_LIBRARIES})
93 add_executable(libmv_bundle_adjuster
94 libmv_bundle_adjuster.cc)
95 target_link_libraries(libmv_bundle_adjuster ceres ${GFLAGS_LIBRARIES})
97 add_executable(libmv_homography
99 target_link_libraries(libmv_homography ceres ${GFLAGS_LIBRARIES})
101 add_executable(denoising
103 fields_of_experts.cc)
104 target_link_libraries(denoising ceres ${GFLAGS_LIBRARIES})
106 add_executable(robot_pose_mle
108 target_link_libraries(robot_pose_mle ceres ${GFLAGS_LIBRARIES})
112 add_subdirectory(sampled_function)
113 add_subdirectory(slam)