245 lines
12 KiB
Makefile
245 lines
12 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: settinger@google.com (Scott Ettinger)
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# keir@google.com (Keir Mierle)
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#
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# Builds Ceres for Android, using the standard toolchain (not
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# standalone). It uses LLVM's libc++ as the standard library. It is a
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# modern BSD licensed implementation of the standard c++ library. We
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# do this to avoid any licensing issues that may arise from using
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# GCC's libstdc++ which is licensed under GPL3.
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#
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# Building
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# --------
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#
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# You will have to specify the environment EIGEN_PATH to point to the
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# Eigen sources when building. For example:
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#
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# EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j
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#
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# It is also possible to specify CERES_EXTRA_DEFINES, in case you need
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# to pass more definitions to the C compiler.
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#
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# Using the library
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# -----------------
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# Copy the static library:
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#
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# ../obj/local/armeabi-v7a/libceres.a
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#
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# into your own project, then link it into your binary in your
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# Android.mk file.
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#
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# Reducing binary size
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# --------------------
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# This build includes the Schur specializations, which increase the
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# size of the binary. If you don't need them for your application,
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# consider adding:
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#
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# -DCERES_RESTRICT_SCHUR_SPECIALIZATION
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#
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# to the LOCAL_CFLAGS variable below.
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#
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# Changing the logging library
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# ----------------------------
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# Ceres Solver ships with a replacement for glog that provides a
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# simple and small implementation that builds on Android. However, if
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# you wish to supply a header only version yourself, then you may
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# define CERES_GLOG_DIR to point to it.
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LOCAL_PATH := $(call my-dir)
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# Ceres requires at least NDK version r9d to compile.
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ifneq ($(shell $(LOCAL_PATH)/assert_ndk_version.sh "r9d" $(NDK_ROOT)), true)
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$(error Ceres requires NDK version r9d or greater)
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endif
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EIGEN_PATH := $(EIGEN_PATH)
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CERES_INCLUDE_PATHS := $(CERES_EXTRA_INCLUDES)
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CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal
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CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres
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CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../include
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CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../config
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# Use the alternate glog implementation if provided by the user.
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ifdef CERES_GLOG_DIR
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CERES_INCLUDE_PATHS += $(CERES_GLOG_DIR)
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else
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CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres/miniglog
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endif
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CERES_SRC_PATH := ../internal/ceres
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include $(CLEAR_VARS)
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LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS)
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LOCAL_C_INCLUDES += $(EIGEN_PATH)
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LOCAL_CPP_EXTENSION := .cc
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LOCAL_CFLAGS := $(CERES_EXTRA_DEFINES) \
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-DCERES_NO_LAPACK \
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-DCERES_NO_SUITESPARSE \
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-DCERES_NO_CXSPARSE \
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-DCERES_STD_UNORDERED_MAP
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# If the user did not enable threads in CERES_EXTRA_DEFINES, then add
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# CERES_NO_THREADS.
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#
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# TODO(sameeragarwal): Update comments here and in the docs to
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# demonstrate how OpenMP can be used by the user.
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ifeq (,$(findstring CERES_HAVE_PTHREAD, $(LOCAL_CFLAGS)))
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LOCAL_CFLAGS += -DCERES_NO_THREADS
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endif
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LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \
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$(CERES_SRC_PATH)/blas.cc \
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$(CERES_SRC_PATH)/block_evaluate_preparer.cc \
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$(CERES_SRC_PATH)/block_jacobian_writer.cc \
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$(CERES_SRC_PATH)/block_jacobi_preconditioner.cc \
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$(CERES_SRC_PATH)/block_random_access_dense_matrix.cc \
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$(CERES_SRC_PATH)/block_random_access_diagonal_matrix.cc \
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$(CERES_SRC_PATH)/block_random_access_matrix.cc \
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$(CERES_SRC_PATH)/block_random_access_sparse_matrix.cc \
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$(CERES_SRC_PATH)/block_sparse_matrix.cc \
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$(CERES_SRC_PATH)/block_structure.cc \
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$(CERES_SRC_PATH)/callbacks.cc \
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$(CERES_SRC_PATH)/canonical_views_clustering.cc \
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$(CERES_SRC_PATH)/cgnr_solver.cc \
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$(CERES_SRC_PATH)/compressed_row_jacobian_writer.cc \
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$(CERES_SRC_PATH)/compressed_row_sparse_matrix.cc \
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$(CERES_SRC_PATH)/conditioned_cost_function.cc \
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$(CERES_SRC_PATH)/conjugate_gradients_solver.cc \
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$(CERES_SRC_PATH)/coordinate_descent_minimizer.cc \
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$(CERES_SRC_PATH)/corrector.cc \
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$(CERES_SRC_PATH)/covariance.cc \
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$(CERES_SRC_PATH)/covariance_impl.cc \
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$(CERES_SRC_PATH)/dense_normal_cholesky_solver.cc \
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$(CERES_SRC_PATH)/dense_qr_solver.cc \
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$(CERES_SRC_PATH)/dense_sparse_matrix.cc \
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$(CERES_SRC_PATH)/detect_structure.cc \
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$(CERES_SRC_PATH)/dogleg_strategy.cc \
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$(CERES_SRC_PATH)/dynamic_compressed_row_jacobian_writer.cc \
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$(CERES_SRC_PATH)/dynamic_compressed_row_sparse_matrix.cc \
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$(CERES_SRC_PATH)/evaluator.cc \
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$(CERES_SRC_PATH)/file.cc \
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$(CERES_SRC_PATH)/gradient_checking_cost_function.cc \
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$(CERES_SRC_PATH)/gradient_problem.cc \
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$(CERES_SRC_PATH)/gradient_problem_solver.cc \
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$(CERES_SRC_PATH)/implicit_schur_complement.cc \
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$(CERES_SRC_PATH)/iterative_schur_complement_solver.cc \
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$(CERES_SRC_PATH)/lapack.cc \
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$(CERES_SRC_PATH)/levenberg_marquardt_strategy.cc \
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$(CERES_SRC_PATH)/line_search.cc \
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$(CERES_SRC_PATH)/line_search_direction.cc \
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$(CERES_SRC_PATH)/line_search_minimizer.cc \
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$(CERES_SRC_PATH)/linear_least_squares_problems.cc \
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$(CERES_SRC_PATH)/linear_operator.cc \
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$(CERES_SRC_PATH)/line_search_preprocessor.cc \
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$(CERES_SRC_PATH)/linear_solver.cc \
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$(CERES_SRC_PATH)/local_parameterization.cc \
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$(CERES_SRC_PATH)/loss_function.cc \
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$(CERES_SRC_PATH)/low_rank_inverse_hessian.cc \
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$(CERES_SRC_PATH)/minimizer.cc \
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$(CERES_SRC_PATH)/normal_prior.cc \
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$(CERES_SRC_PATH)/parameter_block_ordering.cc \
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$(CERES_SRC_PATH)/partitioned_matrix_view.cc \
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$(CERES_SRC_PATH)/polynomial.cc \
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$(CERES_SRC_PATH)/preconditioner.cc \
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$(CERES_SRC_PATH)/preprocessor.cc \
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$(CERES_SRC_PATH)/problem.cc \
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$(CERES_SRC_PATH)/problem_impl.cc \
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$(CERES_SRC_PATH)/program.cc \
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$(CERES_SRC_PATH)/reorder_program.cc \
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$(CERES_SRC_PATH)/residual_block.cc \
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$(CERES_SRC_PATH)/residual_block_utils.cc \
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$(CERES_SRC_PATH)/schur_complement_solver.cc \
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$(CERES_SRC_PATH)/schur_eliminator.cc \
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$(CERES_SRC_PATH)/schur_jacobi_preconditioner.cc \
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$(CERES_SRC_PATH)/scratch_evaluate_preparer.cc \
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$(CERES_SRC_PATH)/solver.cc \
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$(CERES_SRC_PATH)/solver_utils.cc \
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$(CERES_SRC_PATH)/sparse_matrix.cc \
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$(CERES_SRC_PATH)/sparse_normal_cholesky_solver.cc \
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$(CERES_SRC_PATH)/split.cc \
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$(CERES_SRC_PATH)/stringprintf.cc \
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$(CERES_SRC_PATH)/suitesparse.cc \
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$(CERES_SRC_PATH)/triplet_sparse_matrix.cc \
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$(CERES_SRC_PATH)/trust_region_minimizer.cc \
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$(CERES_SRC_PATH)/trust_region_preprocessor.cc \
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$(CERES_SRC_PATH)/trust_region_strategy.cc \
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$(CERES_SRC_PATH)/types.cc \
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$(CERES_SRC_PATH)/visibility_based_preconditioner.cc \
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$(CERES_SRC_PATH)/visibility.cc \
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$(CERES_SRC_PATH)/wall_time.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_d_d_d.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_2_2.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_2_3.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_2_4.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_3_6.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_4_4.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_4_8.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_4_9.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_4_d.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_2_d_d.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_4_4_2.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_4_4_3.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_4_4_4.cc \
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$(CERES_SRC_PATH)/generated/schur_eliminator_4_4_d.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_d_d_d.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_2.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_3.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_4.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_d.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_3.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_4.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_6.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_9.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_d.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_3.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_4.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_8.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_9.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_d.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_d_d.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_2.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_3.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_4.cc \
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$(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_d.cc
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ifndef CERES_GLOG_DIR
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LOCAL_SRC_FILES += $(CERES_SRC_PATH)/miniglog/glog/logging.cc
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endif
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LOCAL_MODULE := ceres
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include $(BUILD_STATIC_LIBRARY)
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