| # 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) | |
| # | |
| # This is an example Makefile for using Ceres. In practice, the Ceres authors | |
| # suggest using CMake instead, but if Make is needed for some reason, this | |
| # example serves to make it easy to do so. | |
| # This should point to place where you unpacked or cloned Ceres. | |
| CERES_SRC_DIR := /home/keir/wrk/ceres-extra | |
| # This should point to the place where you built Ceres. If you got Ceres by | |
| # installing it, then this will likely be /usr/local/lib. | |
| CERES_BIN_DIR := /home/keir/wrk/ceres-extra-bin | |
| # The place you unpacked or cloned Eigen. If Eigen was installed from packages, | |
| # this will likely be /usr/local/include. | |
| EIGEN_SRC_DIR := /home/keir/src/eigen-3.0.5 | |
| INCLUDES := -I$(CERES_SRC_DIR)/include \ | |
| -I$(EIGEN_SRC_DIR) | |
| CERES_LIBRARY := -lceres | |
| CERES_LIBRARY_PATH := -L$(CERES_BIN_DIR)/lib | |
| CERES_LIBRARY_DEPENDENCIES = -lgflags -lglog | |
| # If Ceres was built with Suitesparse: | |
| CERES_LIBRARY_DEPENDENCIES += -llapack -lcamd -lamd -lccolamd -lcolamd -lcholmod | |
| # If Ceres was built with CXSparse: | |
| CERES_LIBRARY_DEPENDENCIES += -lcxsparse | |
| # If Ceres was built with OpenMP: | |
| CERES_LIBRARY_DEPENDENCIES += -fopenmp -lpthread -lgomp -lm | |
| # The set of object files for your application. | |
| APPLICATION_OBJS := simple_bundle_adjuster.o | |
| all: simple_bundle_adjuster | |
| simple_bundle_adjuster: $(APPLICATION_OBJS) | |
| g++ \ | |
| $(APPLICATION_OBJS) \ | |
| $(CERES_LIBRARY_PATH) \ | |
| $(CERES_LIBRARY) \ | |
| $(CERES_LIBRARY_DEPENDENCIES) \ | |
| -o simple_bundle_adjuster | |
| # Disabling debug asserts via -DNDEBUG helps make Eigen faster, at the cost of | |
| # not getting handy assert failures when there are issues in your code. | |
| CFLAGS := -O2 -DNDEBUG | |
| # If you have files ending in .cpp instead of .cc, fix the next line | |
| # appropriately. | |
| %.o: %.cc $(DEPS) | |
| g++ -c -o $@ $< $(CFLAGS) $(INCLUDES) | |