83 lines
3.3 KiB
Makefile
83 lines
3.3 KiB
Makefile
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# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2015 Google Inc. All rights reserved.
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# http://ceres-solver.org/
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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# * Neither the name of Google Inc. nor the names of its contributors may be
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# used to endorse or promote products derived from this software without
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# specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: keir@google.com (Keir Mierle)
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#
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# This is an example Makefile for using Ceres. In practice, the Ceres authors
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# suggest using CMake instead, but if Make is needed for some reason, this
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# example serves to make it easy to do so.
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# This should point to place where you unpacked or cloned Ceres.
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CERES_SRC_DIR := /home/keir/wrk/ceres-extra
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# This should point to the place where you built Ceres. If you got Ceres by
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# installing it, then this will likely be /usr/local/lib.
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CERES_BIN_DIR := /home/keir/wrk/ceres-extra-bin
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# The place you unpacked or cloned Eigen. If Eigen was installed from packages,
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# this will likely be /usr/local/include.
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EIGEN_SRC_DIR := /home/keir/src/eigen-3.0.5
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INCLUDES := -I$(CERES_SRC_DIR)/include \
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-I$(EIGEN_SRC_DIR)
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CERES_LIBRARY := -lceres
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CERES_LIBRARY_PATH := -L$(CERES_BIN_DIR)/lib
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CERES_LIBRARY_DEPENDENCIES = -lgflags -lglog
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# If Ceres was built with Suitesparse:
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CERES_LIBRARY_DEPENDENCIES += -llapack -lcamd -lamd -lccolamd -lcolamd -lcholmod
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# If Ceres was built with CXSparse:
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CERES_LIBRARY_DEPENDENCIES += -lcxsparse
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# If Ceres was built with OpenMP:
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CERES_LIBRARY_DEPENDENCIES += -fopenmp -lpthread -lgomp -lm
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# The set of object files for your application.
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APPLICATION_OBJS := simple_bundle_adjuster.o
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all: simple_bundle_adjuster
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simple_bundle_adjuster: $(APPLICATION_OBJS)
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g++ \
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$(APPLICATION_OBJS) \
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$(CERES_LIBRARY_PATH) \
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$(CERES_LIBRARY) \
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$(CERES_LIBRARY_DEPENDENCIES) \
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-o simple_bundle_adjuster
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# Disabling debug asserts via -DNDEBUG helps make Eigen faster, at the cost of
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# not getting handy assert failures when there are issues in your code.
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CFLAGS := -O2 -DNDEBUG
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# If you have files ending in .cpp instead of .cc, fix the next line
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# appropriately.
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%.o: %.cc $(DEPS)
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g++ -c -o $@ $< $(CFLAGS) $(INCLUDES)
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