# 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)

#

# This is an example Makefile for using Ceres. In practice, the Ceres authors

# suggest using CMake instead, but if Make is needed for some reason, this

# example serves to make it easy to do so.

# This should point to place where you unpacked or cloned Ceres.

CERES_SRC_DIR := /home/keir/wrk/ceres-extra

# This should point to the place where you built Ceres. If you got Ceres by

# installing it, then this will likely be /usr/local/lib.

CERES_BIN_DIR := /home/keir/wrk/ceres-extra-bin

# The place you unpacked or cloned Eigen. If Eigen was installed from packages,

# this will likely be /usr/local/include.

EIGEN_SRC_DIR := /home/keir/src/eigen-3.0.5

INCLUDES := -I$(CERES_SRC_DIR)/include \

            -I$(EIGEN_SRC_DIR)

CERES_LIBRARY := -lceres

CERES_LIBRARY_PATH := -L$(CERES_BIN_DIR)/lib

CERES_LIBRARY_DEPENDENCIES = -lgflags -lglog

# If Ceres was built with Suitesparse:

CERES_LIBRARY_DEPENDENCIES += -llapack -lcamd -lamd -lccolamd -lcolamd -lcholmod

# If Ceres was built with CXSparse:

CERES_LIBRARY_DEPENDENCIES += -lcxsparse

# If Ceres was built with OpenMP:

CERES_LIBRARY_DEPENDENCIES += -fopenmp -lpthread -lgomp -lm

# The set of object files for your application.

APPLICATION_OBJS := simple_bundle_adjuster.o

all: simple_bundle_adjuster

simple_bundle_adjuster: $(APPLICATION_OBJS)

	g++ \

		$(APPLICATION_OBJS) \

		$(CERES_LIBRARY_PATH) \

		$(CERES_LIBRARY) \

		$(CERES_LIBRARY_DEPENDENCIES) \

		-o simple_bundle_adjuster

# Disabling debug asserts via -DNDEBUG helps make Eigen faster, at the cost of

# not getting handy assert failures when there are issues in your code.

CFLAGS := -O2 -DNDEBUG

# If you have files ending in .cpp instead of .cc, fix the next line

# appropriately.

%.o: %.cc $(DEPS)

	g++ -c -o $@ $< $(CFLAGS) $(INCLUDES)