# Ceres Solver - A fast non-linear least squares minimizer

# Copyright 2015 Google Inc. All rights reserved.

# http://ceres-solver.org/

#

# 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: keir@google.com (Keir Mierle)

# Only Ceres itself should be compiled with CERES_BUILDING_SHARED_LIBRARY

# defined, any users of Ceres will have CERES_USING_SHARED_LIBRARY defined

# for them in Ceres' config.h if appropriate.

if (BUILD_SHARED_LIBS)

  remove_definitions(-DCERES_BUILDING_SHARED_LIBRARY)

endif()

add_executable(helloworld helloworld.cc)

target_link_libraries(helloworld ceres)

add_executable(helloworld_numeric_diff helloworld_numeric_diff.cc)

target_link_libraries(helloworld_numeric_diff ceres)

add_executable(helloworld_analytic_diff helloworld_analytic_diff.cc)

target_link_libraries(helloworld_analytic_diff ceres)

add_executable(curve_fitting curve_fitting.cc)

target_link_libraries(curve_fitting ceres)

add_executable(rosenbrock rosenbrock.cc)

target_link_libraries(rosenbrock ceres)

add_executable(curve_fitting_c curve_fitting.c)

target_link_libraries(curve_fitting_c ceres)

# Force CMake to link curve_fitting_c using the C linker, this is important

# when Ceres was compiled using C++11 to ensure that -std=c++11 is not passed

# through.

set_target_properties(curve_fitting_c PROPERTIES LINKER_LANGUAGE C)

# As this is a C file #including <math.h> we have to explicitly add the math

# library (libm). Although some compilers (dependent upon options) will accept

# the indirect link to libm via Ceres, at least GCC 4.8 on pure Debian won't.

if (NOT MSVC)

  target_link_libraries(curve_fitting_c m)

endif (NOT MSVC)

add_executable(ellipse_approximation ellipse_approximation.cc)

target_link_libraries(ellipse_approximation ceres)

add_executable(robust_curve_fitting robust_curve_fitting.cc)

target_link_libraries(robust_curve_fitting ceres)

add_executable(simple_bundle_adjuster simple_bundle_adjuster.cc)

target_link_libraries(simple_bundle_adjuster ceres)

if (GFLAGS)

  add_executable(powell powell.cc)

  target_link_libraries(powell ceres ${GFLAGS_LIBRARIES})

  add_executable(nist nist.cc)

  target_link_libraries(nist ceres ${GFLAGS_LIBRARIES})

  add_executable(more_garbow_hillstrom more_garbow_hillstrom.cc)

  target_link_libraries(more_garbow_hillstrom ceres ${GFLAGS_LIBRARIES})

  add_executable(circle_fit circle_fit.cc)

  target_link_libraries(circle_fit ceres ${GFLAGS_LIBRARIES})

  add_executable(bundle_adjuster

                 bundle_adjuster.cc

                 bal_problem.cc)

  target_link_libraries(bundle_adjuster ceres ${GFLAGS_LIBRARIES})

  add_executable(libmv_bundle_adjuster

                 libmv_bundle_adjuster.cc)

  target_link_libraries(libmv_bundle_adjuster ceres ${GFLAGS_LIBRARIES})

  add_executable(libmv_homography

                 libmv_homography.cc)

  target_link_libraries(libmv_homography ceres ${GFLAGS_LIBRARIES})

  add_executable(denoising

                 denoising.cc

                 fields_of_experts.cc)

  target_link_libraries(denoising ceres ${GFLAGS_LIBRARIES})

  add_executable(robot_pose_mle

                 robot_pose_mle.cc)

  target_link_libraries(robot_pose_mle ceres ${GFLAGS_LIBRARIES})

endif (GFLAGS)

add_subdirectory(sampled_function)

add_subdirectory(slam)