jni/Android.mk

   1 # Ceres Solver - A fast non-linear least squares minimizer
   2 # Copyright 2015 Google Inc. All rights reserved.
   3 # http://ceres-solver.org/
   4 #
   5 # Redistribution and use in source and binary forms, with or without
   6 # modification, are permitted provided that the following conditions are met:
   7 #
   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.
  16 #
  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.
  28 #
  29 # Author: settinger@google.com (Scott Ettinger)
  30 #         keir@google.com (Keir Mierle)
  31 #
  32 # Builds Ceres for Android, using the standard toolchain (not
  33 # standalone). It uses LLVM's libc++ as the standard library. It is a
  34 # modern BSD licensed implementation of the standard c++ library. We
  35 # do this to avoid any licensing issues that may arise from using
  36 # GCC's libstdc++ which is licensed under GPL3.
  37 #
  38 # Building
  39 # --------
  40 #
  41 # You will have to specify the environment EIGEN_PATH to point to the
  42 # Eigen sources when building. For example:
  43 #
  44 #   EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j
  45 #
  46 # It is also possible to specify CERES_EXTRA_DEFINES, in case you need
  47 # to pass more definitions to the C compiler.
  48 #
  49 # Using the library
  50 # -----------------
  51 # Copy the static library:
  52 #
  53 #   ../obj/local/armeabi-v7a/libceres.a
  54 #
  55 # into your own project, then link it into your binary in your
  56 # Android.mk file.
  57 #
  58 # Reducing binary size
  59 # --------------------
  60 # This build includes the Schur specializations, which increase the
  61 # size of the binary. If you don't need them for your application,
  62 # consider adding:
  63 #
  64 #   -DCERES_RESTRICT_SCHUR_SPECIALIZATION
  65 #
  66 # to the LOCAL_CFLAGS variable below.
  67 #
  68 # Changing the logging library
  69 # ----------------------------
  70 # Ceres Solver ships with a replacement for glog that provides a
  71 # simple and small implementation that builds on Android. However, if
  72 # you wish to supply a header only version yourself, then you may
  73 # define CERES_GLOG_DIR to point to it.
  74
  75 LOCAL_PATH := $(call my-dir)
  76
  77 # Ceres requires at least NDK version r9d to compile.
  78 ifneq ($(shell $(LOCAL_PATH)/assert_ndk_version.sh "r9d" $(NDK_ROOT)), true)
  79   $(error Ceres requires NDK version r9d or greater)
  80 endif
  81
  82 EIGEN_PATH := $(EIGEN_PATH)
  83 CERES_INCLUDE_PATHS := $(CERES_EXTRA_INCLUDES)
  84 CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal
  85 CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres
  86 CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../include
  87 CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../config
  88
  89 # Use the alternate glog implementation if provided by the user.
  90 ifdef CERES_GLOG_DIR
  91   CERES_INCLUDE_PATHS += $(CERES_GLOG_DIR)
  92 else
  93   CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres/miniglog
  94 endif
  95 CERES_SRC_PATH := ../internal/ceres
  96
  97 include $(CLEAR_VARS)
  98 LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS)
  99 LOCAL_C_INCLUDES += $(EIGEN_PATH)
 100
 101 LOCAL_CPP_EXTENSION := .cc
 102 LOCAL_CFLAGS := $(CERES_EXTRA_DEFINES) \
 103                 -DCERES_NO_LAPACK \
 104                 -DCERES_NO_SUITESPARSE \
 105                 -DCERES_NO_CXSPARSE \
 106                 -DCERES_STD_UNORDERED_MAP
 107
 108
 109 # If the user did not enable threads in CERES_EXTRA_DEFINES, then add
 110 # CERES_NO_THREADS.
 111 #
 112 # TODO(sameeragarwal): Update comments here and in the docs to
 113 # demonstrate how OpenMP can be used by the user.
 114 ifeq (,$(findstring CERES_HAVE_PTHREAD, $(LOCAL_CFLAGS)))
 115   LOCAL_CFLAGS += -DCERES_NO_THREADS
 116 endif
 117
 118 LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \
 119                    $(CERES_SRC_PATH)/blas.cc \
 120                    $(CERES_SRC_PATH)/block_evaluate_preparer.cc \
 121                    $(CERES_SRC_PATH)/block_jacobian_writer.cc \
 122                    $(CERES_SRC_PATH)/block_jacobi_preconditioner.cc \
 123                    $(CERES_SRC_PATH)/block_random_access_dense_matrix.cc \
 124                    $(CERES_SRC_PATH)/block_random_access_diagonal_matrix.cc \
 125                    $(CERES_SRC_PATH)/block_random_access_matrix.cc \
 126                    $(CERES_SRC_PATH)/block_random_access_sparse_matrix.cc \
 127                    $(CERES_SRC_PATH)/block_sparse_matrix.cc \
 128                    $(CERES_SRC_PATH)/block_structure.cc \
 129                    $(CERES_SRC_PATH)/callbacks.cc \
 130                    $(CERES_SRC_PATH)/canonical_views_clustering.cc \
 131                    $(CERES_SRC_PATH)/cgnr_solver.cc \
 132                    $(CERES_SRC_PATH)/compressed_row_jacobian_writer.cc \
 133                    $(CERES_SRC_PATH)/compressed_row_sparse_matrix.cc \
 134                    $(CERES_SRC_PATH)/conditioned_cost_function.cc \
 135                    $(CERES_SRC_PATH)/conjugate_gradients_solver.cc \
 136                    $(CERES_SRC_PATH)/coordinate_descent_minimizer.cc \
 137                    $(CERES_SRC_PATH)/corrector.cc \
 138                    $(CERES_SRC_PATH)/covariance.cc \
 139                    $(CERES_SRC_PATH)/covariance_impl.cc \
 140                    $(CERES_SRC_PATH)/dense_normal_cholesky_solver.cc \
 141                    $(CERES_SRC_PATH)/dense_qr_solver.cc \
 142                    $(CERES_SRC_PATH)/dense_sparse_matrix.cc \
 143                    $(CERES_SRC_PATH)/detect_structure.cc \
 144                    $(CERES_SRC_PATH)/dogleg_strategy.cc \
 145                    $(CERES_SRC_PATH)/dynamic_compressed_row_jacobian_writer.cc \
 146                    $(CERES_SRC_PATH)/dynamic_compressed_row_sparse_matrix.cc \
 147                    $(CERES_SRC_PATH)/dynamic_sparse_normal_cholesky_solver.cc \
 148                    $(CERES_SRC_PATH)/eigensparse.cc \
 149                    $(CERES_SRC_PATH)/evaluator.cc \
 150                    $(CERES_SRC_PATH)/file.cc \
 151                    $(CERES_SRC_PATH)/function_sample.cc \
 152                    $(CERES_SRC_PATH)/gradient_checker.cc \
 153                    $(CERES_SRC_PATH)/gradient_checking_cost_function.cc \
 154                    $(CERES_SRC_PATH)/gradient_problem.cc \
 155                    $(CERES_SRC_PATH)/gradient_problem_solver.cc \
 156                    $(CERES_SRC_PATH)/is_close.cc \
 157                    $(CERES_SRC_PATH)/implicit_schur_complement.cc \
 158                    $(CERES_SRC_PATH)/inner_product_computer.cc \
 159                    $(CERES_SRC_PATH)/iterative_schur_complement_solver.cc \
 160                    $(CERES_SRC_PATH)/lapack.cc \
 161                    $(CERES_SRC_PATH)/levenberg_marquardt_strategy.cc \
 162                    $(CERES_SRC_PATH)/line_search.cc \
 163                    $(CERES_SRC_PATH)/line_search_direction.cc \
 164                    $(CERES_SRC_PATH)/line_search_minimizer.cc \
 165                    $(CERES_SRC_PATH)/linear_least_squares_problems.cc \
 166                    $(CERES_SRC_PATH)/linear_operator.cc \
 167                    $(CERES_SRC_PATH)/line_search_preprocessor.cc \
 168                    $(CERES_SRC_PATH)/linear_solver.cc \
 169                    $(CERES_SRC_PATH)/local_parameterization.cc \
 170                    $(CERES_SRC_PATH)/loss_function.cc \
 171                    $(CERES_SRC_PATH)/low_rank_inverse_hessian.cc \
 172                    $(CERES_SRC_PATH)/minimizer.cc \
 173                    $(CERES_SRC_PATH)/normal_prior.cc \
 174                    $(CERES_SRC_PATH)/parameter_block_ordering.cc \
 175                    $(CERES_SRC_PATH)/partitioned_matrix_view.cc \
 176                    $(CERES_SRC_PATH)/polynomial.cc \
 177                    $(CERES_SRC_PATH)/preconditioner.cc \
 178                    $(CERES_SRC_PATH)/preprocessor.cc \
 179                    $(CERES_SRC_PATH)/problem.cc \
 180                    $(CERES_SRC_PATH)/problem_impl.cc \
 181                    $(CERES_SRC_PATH)/program.cc \
 182                    $(CERES_SRC_PATH)/reorder_program.cc \
 183                    $(CERES_SRC_PATH)/residual_block.cc \
 184                    $(CERES_SRC_PATH)/residual_block_utils.cc \
 185                    $(CERES_SRC_PATH)/schur_complement_solver.cc \
 186                    $(CERES_SRC_PATH)/schur_eliminator.cc \
 187                    $(CERES_SRC_PATH)/schur_jacobi_preconditioner.cc \
 188                    $(CERES_SRC_PATH)/schur_templates.cc \
 189                    $(CERES_SRC_PATH)/scratch_evaluate_preparer.cc \
 190                    $(CERES_SRC_PATH)/single_linkage_clustering.cc \
 191                    $(CERES_SRC_PATH)/solver.cc \
 192                    $(CERES_SRC_PATH)/solver_utils.cc \
 193                    $(CERES_SRC_PATH)/sparse_cholesky.cc \
 194                    $(CERES_SRC_PATH)/sparse_matrix.cc \
 195                    $(CERES_SRC_PATH)/sparse_normal_cholesky_solver.cc \
 196                    $(CERES_SRC_PATH)/split.cc \
 197                    $(CERES_SRC_PATH)/stringprintf.cc \
 198                    $(CERES_SRC_PATH)/suitesparse.cc \
 199                    $(CERES_SRC_PATH)/triplet_sparse_matrix.cc \
 200                    $(CERES_SRC_PATH)/trust_region_minimizer.cc \
 201                    $(CERES_SRC_PATH)/trust_region_preprocessor.cc \
 202                    $(CERES_SRC_PATH)/trust_region_step_evaluator.cc \
 203                    $(CERES_SRC_PATH)/trust_region_strategy.cc \
 204                    $(CERES_SRC_PATH)/types.cc \
 205                    $(CERES_SRC_PATH)/visibility_based_preconditioner.cc \
 206                    $(CERES_SRC_PATH)/visibility.cc \
 207                    $(CERES_SRC_PATH)/wall_time.cc \
 208                    $(CERES_SRC_PATH)/generated/schur_eliminator_d_d_d.cc \
 209                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_2.cc \
 210                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_3.cc \
 211                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_4.cc \
 212                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \
 213                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \
 214                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \
 215                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_6.cc \
 216                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.cc \
 217                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \
 218                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \
 219                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_4.cc \
 220                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_8.cc \
 221                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_9.cc \
 222                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_d.cc \
 223                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_d_d.cc \
 224                    $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_2.cc \
 225                    $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_3.cc \
 226                    $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_4.cc \
 227                    $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_d.cc \
 228                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_d_d_d.cc \
 229                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_2.cc \
 230                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_3.cc \
 231                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_4.cc \
 232                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_d.cc \
 233                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_3.cc \
 234                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_4.cc \
 235                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_6.cc \
 236                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_9.cc \
 237                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_d.cc \
 238                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_3.cc \
 239                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_4.cc \
 240                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_8.cc \
 241                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_9.cc \
 242                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_d.cc \
 243                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_d_d.cc \
 244                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_2.cc \
 245                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_3.cc \
 246                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_4.cc \
 247                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_d.cc
 248
 249 ifndef CERES_GLOG_DIR
 250 LOCAL_SRC_FILES += $(CERES_SRC_PATH)/miniglog/glog/logging.cc
 251 endif
 252
 253 LOCAL_MODULE := ceres
 254 include $(BUILD_STATIC_LIBRARY)