# 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)
set(CERES_INTERNAL_SRC
array_utils.cc
blas.cc
block_evaluate_preparer.cc
block_jacobi_preconditioner.cc
block_jacobian_writer.cc
block_random_access_dense_matrix.cc
block_random_access_diagonal_matrix.cc
block_random_access_matrix.cc
block_random_access_sparse_matrix.cc
block_sparse_matrix.cc
block_structure.cc
c_api.cc
canonical_views_clustering.cc
cgnr_solver.cc
callbacks.cc
compressed_col_sparse_matrix_utils.cc
compressed_row_jacobian_writer.cc
compressed_row_sparse_matrix.cc
conditioned_cost_function.cc
conjugate_gradients_solver.cc
coordinate_descent_minimizer.cc
corrector.cc
covariance.cc
covariance_impl.cc
cxsparse.cc
dense_normal_cholesky_solver.cc
dense_qr_solver.cc
dense_sparse_matrix.cc
detect_structure.cc
dogleg_strategy.cc
dynamic_compressed_row_jacobian_writer.cc
dynamic_compressed_row_sparse_matrix.cc
dynamic_sparse_normal_cholesky_solver.cc
evaluator.cc
eigensparse.cc
file.cc
function_sample.cc
gradient_checker.cc
gradient_checking_cost_function.cc
gradient_problem.cc
gradient_problem_solver.cc
implicit_schur_complement.cc
inner_product_computer.cc
is_close.cc
iterative_schur_complement_solver.cc
levenberg_marquardt_strategy.cc
lapack.cc
line_search.cc
line_search_direction.cc
line_search_minimizer.cc
line_search_preprocessor.cc
linear_least_squares_problems.cc
linear_operator.cc
linear_solver.cc
local_parameterization.cc
loss_function.cc
low_rank_inverse_hessian.cc
minimizer.cc
normal_prior.cc
parameter_block_ordering.cc
partitioned_matrix_view.cc
polynomial.cc
preconditioner.cc
preprocessor.cc
problem.cc
problem_impl.cc
program.cc
reorder_program.cc
residual_block.cc
residual_block_utils.cc
schur_complement_solver.cc
schur_eliminator.cc
schur_jacobi_preconditioner.cc
schur_templates.cc
scratch_evaluate_preparer.cc
single_linkage_clustering.cc
solver.cc
solver_utils.cc
sparse_matrix.cc
sparse_cholesky.cc
sparse_normal_cholesky_solver.cc
split.cc
stringprintf.cc
suitesparse.cc
triplet_sparse_matrix.cc
trust_region_preprocessor.cc
trust_region_minimizer.cc
trust_region_step_evaluator.cc
trust_region_strategy.cc
types.cc
visibility.cc
visibility_based_preconditioner.cc
wall_time.cc
)
# Also depend on the header files so that they appear in IDEs.
file(GLOB CERES_INTERNAL_HDRS *.h)
if (MINIGLOG)
file(GLOB MINIGLOG_HDRS miniglog/glog/*.h)
list(APPEND CERES_INTERNAL_HDRS ${MINIGLOG_HDRS})
endif()
# Depend also on public headers so they appear in IDEs.
file(GLOB CERES_PUBLIC_HDRS ${Ceres_SOURCE_DIR}/include/ceres/*.h)
file(GLOB CERES_PUBLIC_INTERNAL_HDRS ${Ceres_SOURCE_DIR}/include/ceres/internal/*.h)
# Include the specialized schur solvers.
if (SCHUR_SPECIALIZATIONS)
file(GLOB CERES_INTERNAL_SCHUR_FILES generated/*.cc)
else (SCHUR_SPECIALIZATIONS)
# Only the fully dynamic solver. The build is much faster this way.
file(GLOB CERES_INTERNAL_SCHUR_FILES generated/*_d_d_d.cc)
endif (SCHUR_SPECIALIZATIONS)
# Build the list of dependencies for Ceres based on the current configuration.
if (NOT MINIGLOG AND GLOG_FOUND)
list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GLOG_LIBRARIES})
if (GFLAGS_FOUND)
# If glog & gflags are both found, we assume that glog was built with
# gflags, as it is awkward to perform a try_compile() to verify this
# when gflags is an imported target (as it is in newer versions).
# As glog #includes gflags/gflags.h in glog/logging.h if compiled with
# gflags, it is thus a public dependency for Ceres in this case.
list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GFLAGS_LIBRARIES})
endif()
endif (NOT MINIGLOG AND GLOG_FOUND)
if (SUITESPARSE AND SUITESPARSE_FOUND)
# Define version information for use in Solver::FullReport.
add_definitions(-DCERES_SUITESPARSE_VERSION="${SUITESPARSE_VERSION}")
list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${SUITESPARSE_LIBRARIES})
endif (SUITESPARSE AND SUITESPARSE_FOUND)
if (CXSPARSE AND CXSPARSE_FOUND)
# Define version information for use in Solver::FullReport.
add_definitions(-DCERES_CXSPARSE_VERSION="${CXSPARSE_VERSION}")
list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CXSPARSE_LIBRARIES})
endif (CXSPARSE AND CXSPARSE_FOUND)
if (BLAS_FOUND AND LAPACK_FOUND)
list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${LAPACK_LIBRARIES})
list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${BLAS_LIBRARIES})
endif (BLAS_FOUND AND LAPACK_FOUND)
if (OPENMP_FOUND)
# OpenMP support in Clang requires a non-GNU OpenMP library.
if (CMAKE_COMPILER_IS_GNUCXX)
list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES gomp)
endif()
if (NOT MSVC)
list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CMAKE_THREAD_LIBS_INIT})
endif()
endif (OPENMP_FOUND)
set(CERES_LIBRARY_SOURCE
${CERES_INTERNAL_SRC}
${CERES_INTERNAL_HDRS}
${CERES_PUBLIC_HDRS}
${CERES_PUBLIC_INTERNAL_HDRS}
${CERES_INTERNAL_SCHUR_FILES})
# Primarily for Android, but optionally for others, compile the minimal
# glog implementation into Ceres.
if (MINIGLOG)
list(APPEND CERES_LIBRARY_SOURCE miniglog/glog/logging.cc)
endif (MINIGLOG)
add_library(ceres ${CERES_LIBRARY_SOURCE})
set_target_properties(ceres PROPERTIES
VERSION ${CERES_VERSION}
SOVERSION ${CERES_VERSION_MAJOR})
include(AppendTargetProperty)
# Always build position-independent code (PIC), even when building Ceres as a
# static library so that shared libraries can link against it, not just
# executables (PIC does not apply on Windows).
if (NOT WIN32 AND NOT BUILD_SHARED_LIBS)
# Use the explicit POSITION_INDEPENDENT_CODE target property on CMake versions
# that support it (>= 2.8.9). Otherwise, manually add the -fPIC flag as an
# additional compile definitions for the target.
if (CMAKE_VERSION VERSION_LESS "2.8.9")
append_target_property(ceres COMPILE_FLAGS "-fPIC")
else()
# Use set_target_properties() not append_target_property() here as
# POSITION_INDEPENDENT_CODE is a binary ON/OFF switch.
set_target_properties(ceres PROPERTIES POSITION_INDEPENDENT_CODE ON)
endif()
endif()
if (CXX11)
include(AddCeresCXX11RequirementsToTarget)
add_ceres_cxx11_requirements_to_target(ceres)
endif()
if (BUILD_SHARED_LIBS)
# When building a shared library, mark all external libraries as
# PRIVATE so they don't show up as a dependency.
target_link_libraries(ceres
LINK_PUBLIC ${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
LINK_PRIVATE ${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
else (BUILD_SHARED_LIBS)
# When building a static library, all external libraries are
# PUBLIC(default) since the user needs to link to them.
# They will be listed in CeresTargets.cmake.
set(CERES_LIBRARY_DEPENDENCIES
${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
target_link_libraries(ceres ${CERES_LIBRARY_DEPENDENCIES})
endif (BUILD_SHARED_LIBS)
install(TARGETS ceres
EXPORT CeresExport
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
if (BUILD_TESTING AND GFLAGS)
add_library(gtest gmock_gtest_all.cc gmock_main.cc)
if (BUILD_SHARED_LIBS)
# Define gtest-specific shared library flags for compilation.
append_target_property(gtest COMPILE_DEFINITIONS
GTEST_CREATE_SHARED_LIBRARY)
endif()
add_library(test_util
evaluator_test_utils.cc
numeric_diff_test_utils.cc
test_util.cc)
if (MINIGLOG)
# When using miniglog, it is compiled into Ceres, thus Ceres becomes
# the library against which other libraries should link for logging.
target_link_libraries(gtest ${GFLAGS_LIBRARIES} ceres)
target_link_libraries(test_util ceres gtest)
else (MINIGLOG)
target_link_libraries(gtest ${GFLAGS_LIBRARIES} ${GLOG_LIBRARIES})
target_link_libraries(test_util ceres gtest ${GLOG_LIBRARIES})
endif (MINIGLOG)
macro (CERES_TEST NAME)
add_executable(${NAME}_test ${NAME}_test.cc)
target_link_libraries(${NAME}_test test_util ceres gtest)
if (BUILD_SHARED_LIBS)
# Define gtest-specific shared library flags for linking.
append_target_property(${NAME}_test COMPILE_DEFINITIONS
GTEST_LINKED_AS_SHARED_LIBRARY)
endif()
add_test(NAME ${NAME}_test
COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${NAME}_test
--test_srcdir
${Ceres_SOURCE_DIR}/data)
endmacro (CERES_TEST)
ceres_test(array_utils)
ceres_test(autodiff)
ceres_test(autodiff_cost_function)
ceres_test(autodiff_local_parameterization)
ceres_test(block_jacobi_preconditioner)
ceres_test(block_random_access_dense_matrix)
ceres_test(block_random_access_diagonal_matrix)
ceres_test(block_random_access_sparse_matrix)
ceres_test(block_sparse_matrix)
ceres_test(c_api)
ceres_test(canonical_views_clustering)
ceres_test(compressed_col_sparse_matrix_utils)
ceres_test(compressed_row_sparse_matrix)
ceres_test(conditioned_cost_function)
ceres_test(conjugate_gradients_solver)
ceres_test(corrector)
ceres_test(cost_function_to_functor)
ceres_test(covariance)
ceres_test(cubic_interpolation)
ceres_test(dense_linear_solver)
ceres_test(dense_sparse_matrix)
ceres_test(detect_structure)
ceres_test(dogleg_strategy)
ceres_test(dynamic_autodiff_cost_function)
ceres_test(dynamic_compressed_row_sparse_matrix)
ceres_test(dynamic_numeric_diff_cost_function)
ceres_test(dynamic_sparse_normal_cholesky_solver)
ceres_test(dynamic_sparsity)
ceres_test(evaluator)
ceres_test(gradient_checker)
ceres_test(gradient_checking_cost_function)
ceres_test(gradient_problem)
ceres_test(gradient_problem_solver)
ceres_test(graph)
ceres_test(graph_algorithms)
ceres_test(householder_vector)
ceres_test(implicit_schur_complement)
ceres_test(inner_product_computer)
ceres_test(invert_psd_matrix)
ceres_test(is_close)
ceres_test(iterative_schur_complement_solver)
ceres_test(jet)
ceres_test(levenberg_marquardt_strategy)
ceres_test(line_search_minimizer)
ceres_test(line_search_preprocessor)
ceres_test(local_parameterization)
ceres_test(loss_function)
ceres_test(minimizer)
ceres_test(normal_prior)
ceres_test(numeric_diff_cost_function)
ceres_test(ordered_groups)
ceres_test(parameter_block)
ceres_test(parameter_block_ordering)
ceres_test(partitioned_matrix_view)
ceres_test(polynomial)
ceres_test(problem)
ceres_test(program)
ceres_test(reorder_program)
ceres_test(residual_block)
ceres_test(residual_block_utils)
ceres_test(rotation)
ceres_test(schur_complement_solver)
ceres_test(schur_eliminator)
ceres_test(single_linkage_clustering)
ceres_test(small_blas)
ceres_test(solver)
ceres_test(sparse_cholesky)
ceres_test(sparse_normal_cholesky_solver)
ceres_test(system)
ceres_test(triplet_sparse_matrix)
ceres_test(trust_region_minimizer)
ceres_test(trust_region_preprocessor)
ceres_test(visibility)
ceres_test(visibility_based_preconditioner)
# Put the large end to end test last.
ceres_test(bundle_adjustment)
endif (BUILD_TESTING AND GFLAGS)