1# Ceres Solver - A fast non-linear least squares minimizer 2# Copyright 2012 Google Inc. All rights reserved. 3# http://code.google.com/p/ceres-solver/ 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: keir@google.com (Keir Mierle) 30# 31# This is an example Makefile for using Ceres. In practice, the Ceres authors 32# suggest using CMake instead, but if Make is needed for some reason, this 33# example serves to make it easy to do so. 34 35# This should point to place where you unpacked or cloned Ceres. 36CERES_SRC_DIR := /home/keir/wrk/ceres-extra 37 38# This should point to the place where you built Ceres. If you got Ceres by 39# installing it, then this will likely be /usr/local/lib. 40CERES_BIN_DIR := /home/keir/wrk/ceres-extra-bin 41 42# The place you unpacked or cloned Eigen. If Eigen was installed from packages, 43# this will likely be /usr/local/include. 44EIGEN_SRC_DIR := /home/keir/src/eigen-3.0.5 45 46INCLUDES := -I$(CERES_SRC_DIR)/include \ 47 -I$(EIGEN_SRC_DIR) 48 49CERES_LIBRARY := -lceres 50CERES_LIBRARY_PATH := -L$(CERES_BIN_DIR)/lib 51CERES_LIBRARY_DEPENDENCIES = -lgflags -lglog 52 53# If Ceres was built with Suitesparse: 54CERES_LIBRARY_DEPENDENCIES += -llapack -lcamd -lamd -lccolamd -lcolamd -lcholmod 55 56# If Ceres was built with CXSparse: 57CERES_LIBRARY_DEPENDENCIES += -lcxsparse 58 59# If Ceres was built with OpenMP: 60CERES_LIBRARY_DEPENDENCIES += -fopenmp -lpthread -lgomp -lm 61 62# The set of object files for your application. 63APPLICATION_OBJS := simple_bundle_adjuster.o 64 65all: simple_bundle_adjuster 66 67simple_bundle_adjuster: $(APPLICATION_OBJS) 68 g++ \ 69 $(APPLICATION_OBJS) \ 70 $(CERES_LIBRARY_PATH) \ 71 $(CERES_LIBRARY) \ 72 $(CERES_LIBRARY_DEPENDENCIES) \ 73 -o simple_bundle_adjuster 74 75# Disabling debug asserts via -DNDEBUG helps make Eigen faster, at the cost of 76# not getting handy assert failures when there are issues in your code. 77CFLAGS := -O2 -DNDEBUG 78 79# If you have files ending in .cpp instead of .cc, fix the next line 80# appropriately. 81%.o: %.cc $(DEPS) 82 g++ -c -o $@ $< $(CFLAGS) $(INCLUDES) 83