Ceres Solver - A fast non-linear least squares minimizer

Copyright 2015 Google Inc. All rights reserved.

http://ceres-solver.org/

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Author: settinger@google.com (Scott Ettinger)

keir@google.com (Keir Mierle)

Builds Ceres for Android, using the standard toolchain (not

standalone). It uses LLVM's libc++ as the standard library. It is a

modern BSD licensed implementation of the standard c++ library. We

do this to avoid any licensing issues that may arise from using

GCC's libstdc++ which is licensed under GPL3.

Building

--------

You will have to specify the environment EIGEN_PATH to point to the

Eigen sources when building. For example:

EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j

It is also possible to specify CERES_EXTRA_DEFINES, in case you need

to pass more definitions to the C compiler.

Using the library

-----------------

Copy the static library:

../obj/local/armeabi-v7a/libceres.a

into your own project, then link it into your binary in your

Android.mk file.

Reducing binary size

--------------------

This build includes the Schur specializations, which increase the

size of the binary. If you don't need them for your application,

consider adding:

-DCERES_RESTRICT_SCHUR_SPECIALIZATION

to the LOCAL_CFLAGS variable below.

Changing the logging library

----------------------------

Ceres Solver ships with a replacement for glog that provides a

simple and small implementation that builds on Android. However, if

you wish to supply a header only version yourself, then you may

define CERES_GLOG_DIR to point to it.

LOCAL_PATH := $(call my-dir)

Ceres requires at least NDK version r9d to compile.

ifneq ($(shell $(LOCAL_PATH)/assert_ndk_version.sh "r9d" $(NDK_ROOT)), true) $(error Ceres requires NDK version r9d or greater) endif

EIGEN_PATH := $(EIGEN_PATH) CERES_INCLUDE_PATHS := $(CERES_EXTRA_INCLUDES) CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../include CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../config

Use the alternate glog implementation if provided by the user.

ifdef CERES_GLOG_DIR CERES_INCLUDE_PATHS += $(CERES_GLOG_DIR) else CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres/miniglog endif CERES_SRC_PATH := ../internal/ceres

include $(CLEAR_VARS) LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS) LOCAL_C_INCLUDES += $(EIGEN_PATH)

LOCAL_CPP_EXTENSION := .cc LOCAL_CFLAGS := $(CERES_EXTRA_DEFINES) \ -DCERES_NO_LAPACK \ -DCERES_NO_SUITESPARSE \ -DCERES_NO_CXSPARSE \ -DCERES_STD_UNORDERED_MAP

If the user did not enable threads in CERES_EXTRA_DEFINES, then add

CERES_NO_THREADS.

TODO(sameeragarwal): Update comments here and in the docs to

demonstrate how OpenMP can be used by the user.

ifeq (,$(findstring CERES_HAVE_PTHREAD, $(LOCAL_CFLAGS))) LOCAL_CFLAGS += -DCERES_NO_THREADS endif

LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \ $(CERES_SRC_PATH)/blas.cc \ $(CERES_SRC_PATH)/block_evaluate_preparer.cc \ $(CERES_SRC_PATH)/block_jacobian_writer.cc \ $(CERES_SRC_PATH)/block_jacobi_preconditioner.cc \ $(CERES_SRC_PATH)/block_random_access_dense_matrix.cc \ $(CERES_SRC_PATH)/block_random_access_diagonal_matrix.cc \ $(CERES_SRC_PATH)/block_random_access_matrix.cc \ $(CERES_SRC_PATH)/block_random_access_sparse_matrix.cc \ $(CERES_SRC_PATH)/block_sparse_matrix.cc \ $(CERES_SRC_PATH)/block_structure.cc \ $(CERES_SRC_PATH)/callbacks.cc \ $(CERES_SRC_PATH)/canonical_views_clustering.cc \ $(CERES_SRC_PATH)/cgnr_solver.cc \ $(CERES_SRC_PATH)/compressed_row_jacobian_writer.cc \ $(CERES_SRC_PATH)/compressed_row_sparse_matrix.cc \ $(CERES_SRC_PATH)/conditioned_cost_function.cc \ $(CERES_SRC_PATH)/conjugate_gradients_solver.cc \ $(CERES_SRC_PATH)/coordinate_descent_minimizer.cc \ $(CERES_SRC_PATH)/corrector.cc \ $(CERES_SRC_PATH)/covariance.cc \ $(CERES_SRC_PATH)/covariance_impl.cc \ $(CERES_SRC_PATH)/dense_normal_cholesky_solver.cc \ $(CERES_SRC_PATH)/dense_qr_solver.cc \ $(CERES_SRC_PATH)/dense_sparse_matrix.cc \ $(CERES_SRC_PATH)/detect_structure.cc \ $(CERES_SRC_PATH)/dogleg_strategy.cc \ $(CERES_SRC_PATH)/dynamic_compressed_row_jacobian_writer.cc \ $(CERES_SRC_PATH)/dynamic_compressed_row_sparse_matrix.cc \ $(CERES_SRC_PATH)/dynamic_sparse_normal_cholesky_solver.cc \ $(CERES_SRC_PATH)/eigensparse.cc \ $(CERES_SRC_PATH)/evaluator.cc \ $(CERES_SRC_PATH)/file.cc \ $(CERES_SRC_PATH)/function_sample.cc \ $(CERES_SRC_PATH)/gradient_checker.cc \ $(CERES_SRC_PATH)/gradient_checking_cost_function.cc \ $(CERES_SRC_PATH)/gradient_problem.cc \ $(CERES_SRC_PATH)/gradient_problem_solver.cc \ $(CERES_SRC_PATH)/is_close.cc \ $(CERES_SRC_PATH)/implicit_schur_complement.cc \ $(CERES_SRC_PATH)/inner_product_computer.cc \ $(CERES_SRC_PATH)/iterative_schur_complement_solver.cc \ $(CERES_SRC_PATH)/lapack.cc \ $(CERES_SRC_PATH)/levenberg_marquardt_strategy.cc \ $(CERES_SRC_PATH)/line_search.cc \ $(CERES_SRC_PATH)/line_search_direction.cc \ $(CERES_SRC_PATH)/line_search_minimizer.cc \ $(CERES_SRC_PATH)/linear_least_squares_problems.cc \ $(CERES_SRC_PATH)/linear_operator.cc \ $(CERES_SRC_PATH)/line_search_preprocessor.cc \ $(CERES_SRC_PATH)/linear_solver.cc \ $(CERES_SRC_PATH)/local_parameterization.cc \ $(CERES_SRC_PATH)/loss_function.cc \ $(CERES_SRC_PATH)/low_rank_inverse_hessian.cc \ $(CERES_SRC_PATH)/minimizer.cc \ $(CERES_SRC_PATH)/normal_prior.cc \ $(CERES_SRC_PATH)/parameter_block_ordering.cc \ $(CERES_SRC_PATH)/partitioned_matrix_view.cc \ $(CERES_SRC_PATH)/polynomial.cc \ $(CERES_SRC_PATH)/preconditioner.cc \ $(CERES_SRC_PATH)/preprocessor.cc \ $(CERES_SRC_PATH)/problem.cc \ $(CERES_SRC_PATH)/problem_impl.cc \ $(CERES_SRC_PATH)/program.cc \ $(CERES_SRC_PATH)/reorder_program.cc \ $(CERES_SRC_PATH)/residual_block.cc \ $(CERES_SRC_PATH)/residual_block_utils.cc \ $(CERES_SRC_PATH)/schur_complement_solver.cc \ $(CERES_SRC_PATH)/schur_eliminator.cc \ $(CERES_SRC_PATH)/schur_jacobi_preconditioner.cc \ $(CERES_SRC_PATH)/schur_templates.cc \ $(CERES_SRC_PATH)/scratch_evaluate_preparer.cc \ $(CERES_SRC_PATH)/single_linkage_clustering.cc \ $(CERES_SRC_PATH)/solver.cc \ $(CERES_SRC_PATH)/solver_utils.cc \ $(CERES_SRC_PATH)/sparse_cholesky.cc \ $(CERES_SRC_PATH)/sparse_matrix.cc \ $(CERES_SRC_PATH)/sparse_normal_cholesky_solver.cc \ $(CERES_SRC_PATH)/split.cc \ $(CERES_SRC_PATH)/stringprintf.cc \ $(CERES_SRC_PATH)/suitesparse.cc \ $(CERES_SRC_PATH)/triplet_sparse_matrix.cc \ $(CERES_SRC_PATH)/trust_region_minimizer.cc \ $(CERES_SRC_PATH)/trust_region_preprocessor.cc \ $(CERES_SRC_PATH)/trust_region_step_evaluator.cc \ $(CERES_SRC_PATH)/trust_region_strategy.cc \ $(CERES_SRC_PATH)/types.cc \ $(CERES_SRC_PATH)/visibility_based_preconditioner.cc \ $(CERES_SRC_PATH)/visibility.cc \ $(CERES_SRC_PATH)/wall_time.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_d_d_d.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_2.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_3.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_4.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_6.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_4.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_8.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_9.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_d.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_d_d.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_2.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_3.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_4.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_d.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_d_d_d.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_2.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_3.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_4.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_d.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_3.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_4.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_6.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_9.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_d.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_3.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_4.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_8.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_9.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_d.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_d_d.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_2.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_3.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_4.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_d.cc

ifndef CERES_GLOG_DIR LOCAL_SRC_FILES += $(CERES_SRC_PATH)/miniglog/glog/logging.cc endif

LOCAL_MODULE := ceres include $(BUILD_STATIC_LIBRARY)