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 # This is an example Makefile for using Ceres. In practice, the Ceres authors
32 # suggest using CMake instead, but if Make is needed for some reason, this
33 # example serves to make it easy to do so.
35 # This should point to place where you unpacked or cloned Ceres.
36 CERES_SRC_DIR := /home/keir/wrk/ceres-extra
38 # This should point to the place where you built Ceres. If you got Ceres by
39 # installing it, then this will likely be /usr/local/lib.
40 CERES_BIN_DIR := /home/keir/wrk/ceres-extra-bin
42 # The place you unpacked or cloned Eigen. If Eigen was installed from packages,
43 # this will likely be /usr/local/include.
44 EIGEN_SRC_DIR := /home/keir/src/eigen-3.0.5
46 INCLUDES := -I$(CERES_SRC_DIR)/include \
49 CERES_LIBRARY := -lceres
50 CERES_LIBRARY_PATH := -L$(CERES_BIN_DIR)/lib
51 CERES_LIBRARY_DEPENDENCIES = -lgflags -lglog
53 # If Ceres was built with Suitesparse:
54 CERES_LIBRARY_DEPENDENCIES += -llapack -lcamd -lamd -lccolamd -lcolamd -lcholmod
56 # If Ceres was built with CXSparse:
57 CERES_LIBRARY_DEPENDENCIES += -lcxsparse
59 # If Ceres was built with OpenMP:
60 CERES_LIBRARY_DEPENDENCIES += -fopenmp -lpthread -lgomp -lm
62 # The set of object files for your application.
63 APPLICATION_OBJS := simple_bundle_adjuster.o
65 all: simple_bundle_adjuster
67 simple_bundle_adjuster: $(APPLICATION_OBJS)
70 $(CERES_LIBRARY_PATH) \
72 $(CERES_LIBRARY_DEPENDENCIES) \
73 -o simple_bundle_adjuster
75 # Disabling debug asserts via -DNDEBUG helps make Eigen faster, at the cost of
76 # not getting handy assert failures when there are issues in your code.
77 CFLAGS := -O2 -DNDEBUG
79 # If you have files ending in .cpp instead of .cc, fix the next line
82 g++ -c -o $@ $< $(CFLAGS) $(INCLUDES)