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- find_package(Threads REQUIRED)
- list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES Threads::Threads)
- set(Threads_DEPENDENCY "find_dependency (Threads)" PARENT_SCOPE)
- set(CERES_EXPORTED_SRCS
- c_api.cc
- gradient_checker.cc
- gradient_problem.cc
- loss_function.cc
- manifold.cc
- normal_prior.cc
- problem.cc
- solver.cc
- types.cc
- )
- file(GLOB CERES_INTERNAL_HDRS *.h)
- if (MINIGLOG)
- file(GLOB MINIGLOG_HDRS miniglog/glog/*.h)
- list(APPEND CERES_INTERNAL_HDRS ${MINIGLOG_HDRS})
- if (ANDROID)
- list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES log)
- endif()
- endif()
- file(GLOB CERES_PUBLIC_HDRS ${Ceres_SOURCE_DIR}/include/ceres/*.h)
- file(GLOB CERES_PUBLIC_INTERNAL_HDRS ${Ceres_SOURCE_DIR}/include/ceres/internal/*.h)
- file(GLOB CERES_PUBLIC_INTERNAL_HDRS
- ${Ceres_BINARY_DIR}/${CMAKE_INSTALL_INCLUDEDIR}/ceres/internal/*.h)
- if (SCHUR_SPECIALIZATIONS)
- file(GLOB CERES_INTERNAL_SCHUR_FILES generated/*.cc)
- else (SCHUR_SPECIALIZATIONS)
-
- file(GLOB CERES_INTERNAL_SCHUR_FILES generated/*_d_d_d.cc)
- endif (SCHUR_SPECIALIZATIONS)
- set_source_files_properties(${CERES_INTERNAL_SCHUR_FILES} PROPERTIES
- SKIP_UNITY_BUILD_INCLUSION ON)
- if (NOT MINIGLOG AND GLOG_FOUND)
- list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GLOG_LIBRARIES})
- if (gflags_FOUND)
-
-
-
-
-
- list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES gflags)
- endif()
- endif (NOT MINIGLOG AND GLOG_FOUND)
- if (SUITESPARSE AND SuiteSparse_FOUND)
-
- add_definitions(-DCERES_SUITESPARSE_VERSION="${SuiteSparse_VERSION}")
- list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES SuiteSparse::CHOLMOD
- SuiteSparse::SPQR)
- if (SuiteSparse_Partition_FOUND)
- list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES SuiteSparse::Partition)
- endif (SuiteSparse_Partition_FOUND)
- endif (SUITESPARSE AND SuiteSparse_FOUND)
- if (SuiteSparse_Partition_FOUND OR EIGENMETIS)
-
- add_definitions(-DCERES_METIS_VERSION="${METIS_VERSION}")
- list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES METIS::METIS)
- endif (SuiteSparse_Partition_FOUND OR EIGENMETIS)
- if (ACCELERATESPARSE AND AccelerateSparse_FOUND)
- list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${AccelerateSparse_LIBRARIES})
- endif()
- if (USE_CUDA)
- list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES
- CUDA::cublas
- CUDA::cudart
- CUDA::cusolver
- CUDA::cusparse)
- set_source_files_properties(cuda_kernels_vector_ops.cu.cc PROPERTIES LANGUAGE CUDA)
- set_source_files_properties(cuda_kernels_bsm_to_crs.cu.cc PROPERTIES LANGUAGE CUDA)
- add_library(ceres_cuda_kernels STATIC cuda_kernels_vector_ops.cu.cc cuda_kernels_bsm_to_crs.cu.cc)
- target_compile_features(ceres_cuda_kernels PRIVATE cxx_std_14)
- target_compile_definitions(ceres_cuda_kernels PRIVATE CERES_STATIC_DEFINE)
-
- target_compile_options(ceres_cuda_kernels PRIVATE --extended-lambda)
- target_include_directories(ceres_cuda_kernels PRIVATE ${Ceres_SOURCE_DIR}/include ${Ceres_SOURCE_DIR}/internal ${Ceres_BINARY_DIR}/${CMAKE_INSTALL_INCLUDEDIR})
- list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ceres_cuda_kernels)
- endif (USE_CUDA)
- if (LAPACK_FOUND)
- list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${LAPACK_LIBRARIES})
- endif ()
- add_library(ceres_internal OBJECT
- ${CERES_INTERNAL_SCHUR_FILES}
- accelerate_sparse.cc
- array_utils.cc
- block_evaluate_preparer.cc
- block_jacobi_preconditioner.cc
- block_jacobian_writer.cc
- block_random_access_dense_matrix.cc
- block_random_access_diagonal_matrix.cc
- block_random_access_matrix.cc
- block_random_access_sparse_matrix.cc
- block_sparse_matrix.cc
- block_structure.cc
- callbacks.cc
- canonical_views_clustering.cc
- cgnr_solver.cc
- compressed_col_sparse_matrix_utils.cc
- compressed_row_jacobian_writer.cc
- compressed_row_sparse_matrix.cc
- conditioned_cost_function.cc
- context.cc
- context_impl.cc
- coordinate_descent_minimizer.cc
- corrector.cc
- cost_function.cc
- covariance.cc
- covariance_impl.cc
- cuda_block_sparse_crs_view.cc
- cuda_partitioned_block_sparse_crs_view.cc
- cuda_block_structure.cc
- cuda_sparse_matrix.cc
- cuda_vector.cc
- dense_cholesky.cc
- dense_normal_cholesky_solver.cc
- dense_qr.cc
- dense_qr_solver.cc
- dense_sparse_matrix.cc
- detect_structure.cc
- dogleg_strategy.cc
- dynamic_compressed_row_jacobian_writer.cc
- dynamic_compressed_row_sparse_matrix.cc
- dynamic_sparse_normal_cholesky_solver.cc
- eigensparse.cc
- evaluation_callback.cc
- evaluator.cc
- fake_bundle_adjustment_jacobian.cc
- file.cc
- first_order_function.cc
- float_suitesparse.cc
- function_sample.cc
- gradient_checking_cost_function.cc
- gradient_problem_solver.cc
- implicit_schur_complement.cc
- inner_product_computer.cc
- is_close.cc
- iteration_callback.cc
- iterative_refiner.cc
- iterative_schur_complement_solver.cc
- levenberg_marquardt_strategy.cc
- line_search.cc
- line_search_direction.cc
- line_search_minimizer.cc
- line_search_preprocessor.cc
- linear_least_squares_problems.cc
- linear_operator.cc
- linear_solver.cc
- low_rank_inverse_hessian.cc
- minimizer.cc
- parallel_invoke.cc
- parallel_utils.cc
- parallel_vector_ops.cc
- parameter_block_ordering.cc
- partitioned_matrix_view.cc
- polynomial.cc
- power_series_expansion_preconditioner.cc
- preconditioner.cc
- preprocessor.cc
- problem_impl.cc
- program.cc
- reorder_program.cc
- residual_block.cc
- residual_block_utils.cc
- schur_complement_solver.cc
- schur_eliminator.cc
- schur_jacobi_preconditioner.cc
- schur_templates.cc
- scratch_evaluate_preparer.cc
- single_linkage_clustering.cc
- solver_utils.cc
- sparse_cholesky.cc
- sparse_matrix.cc
- sparse_normal_cholesky_solver.cc
- stringprintf.cc
- subset_preconditioner.cc
- suitesparse.cc
- thread_pool.cc
- thread_token_provider.cc
- triplet_sparse_matrix.cc
- trust_region_minimizer.cc
- trust_region_preprocessor.cc
- trust_region_step_evaluator.cc
- trust_region_strategy.cc
- visibility.cc
- visibility_based_preconditioner.cc
- wall_time.cc
- )
- set(CERES_LIBRARY_SOURCE
- ${CERES_EXPORTED_SRCS}
- ${CERES_INTERNAL_HDRS}
- ${CERES_PUBLIC_HDRS}
- ${CERES_PUBLIC_INTERNAL_HDRS})
- if (MINIGLOG)
- list(APPEND CERES_LIBRARY_SOURCE miniglog/glog/logging.cc)
- endif (MINIGLOG)
- include(CheckCXXCompilerFlag)
- check_cxx_compiler_flag("-Wno-missing-declarations"
- CHECK_CXX_FLAG_Wno_missing_declarations)
- if (CHECK_CXX_FLAG_Wno_missing_declarations)
- set_property(SOURCE gmock_gtest_all.cc
- APPEND_STRING PROPERTY COMPILE_FLAGS "-Wno-missing-declarations")
- endif()
- add_library(ceres $<TARGET_OBJECTS:ceres_internal> ${CERES_LIBRARY_SOURCE})
- if(BUILD_SHARED_LIBS)
-
-
-
-
- add_library(ceres_static STATIC $<TARGET_OBJECTS:ceres_internal> ${CERES_LIBRARY_SOURCE})
- target_include_directories(ceres_static PUBLIC $<TARGET_PROPERTY:ceres,INCLUDE_DIRECTORIES>)
- target_compile_definitions(ceres_static PUBLIC $<TARGET_PROPERTY:ceres,COMPILE_DEFINITIONS>)
- target_compile_features(ceres_static PUBLIC $<TARGET_PROPERTY:ceres,COMPILE_FEATURES>)
- target_compile_options(ceres_static PUBLIC $<TARGET_PROPERTY:ceres,COMPILE_OPTIONS>)
- target_link_libraries(ceres_static
- INTERFACE $<TARGET_PROPERTY:ceres,INTERFACE_LINK_LIBRARIES>
- PRIVATE ${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
-
-
-
- target_compile_definitions(ceres_static PUBLIC CERES_STATIC_DEFINE)
- else()
-
-
- add_library(ceres_static ALIAS ceres)
- endif()
- add_library(Ceres::ceres ALIAS ceres)
- target_include_directories(ceres_internal PUBLIC $<TARGET_PROPERTY:ceres,INCLUDE_DIRECTORIES>)
- target_compile_definitions(ceres_internal PUBLIC $<TARGET_PROPERTY:ceres,COMPILE_DEFINITIONS>)
- target_compile_options(ceres_internal PUBLIC $<TARGET_PROPERTY:ceres,COMPILE_OPTIONS>)
- target_compile_definitions(ceres_internal PRIVATE ceres_EXPORTS)
- target_compile_features(ceres_internal PRIVATE $<TARGET_PROPERTY:ceres,COMPILE_FEATURES>)
- target_compile_features(ceres PUBLIC cxx_std_17)
- set_target_properties(ceres PROPERTIES
- VERSION ${CERES_VERSION}
- SOVERSION 4)
- target_link_libraries(ceres
- PUBLIC ${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
- PRIVATE ${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
- target_include_directories(ceres
- BEFORE PUBLIC
- $<BUILD_INTERFACE:${Ceres_BINARY_DIR}/${CMAKE_INSTALL_INCLUDEDIR}>
- PRIVATE ${Ceres_SOURCE_DIR}/internal
- PUBLIC $<BUILD_INTERFACE:${Ceres_SOURCE_DIR}/include>
- $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
- target_link_libraries(ceres PUBLIC Eigen3::Eigen)
- set(CERES_LIBRARY_PRIVATE_DEPENDENCIES_INCLUDE_DIRS "")
- set(CERES_LIBRARY_PUBLIC_DEPENDENCIES_INCLUDE_DIRS "")
- if (MINIGLOG)
-
-
-
-
-
-
-
-
-
-
- target_include_directories(ceres BEFORE PUBLIC
- $<BUILD_INTERFACE:${Ceres_SOURCE_DIR}/internal/ceres/miniglog>
- $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/ceres/internal/miniglog>)
- elseif (NOT FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
-
-
- list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES_INCLUDE_DIRS
- ${GLOG_INCLUDE_DIRS})
- endif()
- if (ACCELERATESPARSE)
- list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES_INCLUDE_DIRS
- ${AccelerateSparse_INCLUDE_DIRS})
- endif()
- list(REMOVE_DUPLICATES CERES_LIBRARY_PRIVATE_DEPENDENCIES_INCLUDE_DIRS)
- target_include_directories(ceres PRIVATE ${CERES_LIBRARY_PRIVATE_DEPENDENCIES_INCLUDE_DIRS})
- list(REMOVE_DUPLICATES CERES_LIBRARY_PUBLIC_DEPENDENCIES_INCLUDE_DIRS)
- target_include_directories(ceres PUBLIC ${CERES_LIBRARY_PUBLIC_DEPENDENCIES_INCLUDE_DIRS})
- include(GenerateExportHeader)
- generate_export_header(ceres EXPORT_FILE_NAME
- ${Ceres_BINARY_DIR}/${CMAKE_INSTALL_INCLUDEDIR}/ceres/internal/export.h)
- if (USE_CUDA)
- install(TARGETS ceres_cuda_kernels
- EXPORT CeresExport
- RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
- LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
- ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})
- endif(USE_CUDA)
- install(TARGETS ceres
- EXPORT CeresExport
- RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
- LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
- ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})
- if (BUILD_TESTING AND GFLAGS)
- add_library(gtest STATIC gmock_gtest_all.cc gmock_main.cc)
- target_include_directories(gtest PRIVATE ${Ceres_SOURCE_DIR}/internal/ceres)
- if (CMAKE_SYSTEM_NAME MATCHES "QNX")
- target_link_libraries(gtest PUBLIC regex)
- endif()
- target_link_libraries(gtest PRIVATE Ceres::ceres gflags)
- add_library(test_util STATIC
- evaluator_test_utils.cc
- numeric_diff_test_utils.cc
- test_util.cc)
- target_include_directories(test_util PUBLIC ${Ceres_SOURCE_DIR}/internal)
- target_link_libraries (test_util PUBLIC ceres_static gflags gtest)
- macro (CERES_TEST NAME)
- add_executable(${NAME}_test ${NAME}_test.cc)
-
-
-
-
- target_include_directories(${NAME}_test
- PRIVATE ${Ceres_SOURCE_DIR}/internal/ceres
- ${CERES_LIBRARY_PRIVATE_DEPENDENCIES_INCLUDE_DIRS})
-
-
-
- target_link_libraries(${NAME}_test PRIVATE gtest test_util ceres_static
- ${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
-
-
-
- if (TARGET SuiteSparse::SPQR)
- target_link_libraries (${NAME}_test PRIVATE SuiteSparse::SPQR)
- endif (TARGET SuiteSparse::SPQR)
- add_test(NAME ${NAME}_test
- COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${NAME}_test
- --test_srcdir
- ${Ceres_SOURCE_DIR}/data)
- endmacro (CERES_TEST)
- ceres_test(array_utils)
- ceres_test(array_selector)
- ceres_test(autodiff)
- ceres_test(autodiff_first_order_function)
- ceres_test(autodiff_cost_function)
- ceres_test(autodiff_manifold)
- ceres_test(block_jacobi_preconditioner)
- ceres_test(block_random_access_dense_matrix)
- ceres_test(block_random_access_diagonal_matrix)
- ceres_test(block_random_access_sparse_matrix)
- ceres_test(block_sparse_matrix)
- ceres_test(c_api)
- ceres_test(canonical_views_clustering)
- ceres_test(compressed_col_sparse_matrix_utils)
- ceres_test(compressed_row_sparse_matrix)
- ceres_test(concurrent_queue)
- ceres_test(conditioned_cost_function)
- ceres_test(conjugate_gradients_solver)
- ceres_test(corrector)
- ceres_test(cost_function_to_functor)
- ceres_test(covariance)
- ceres_test(cubic_interpolation)
- ceres_test(cuda_partitioned_block_sparse_crs_view)
- ceres_test(cuda_block_sparse_crs_view)
- ceres_test(cuda_block_structure)
- ceres_test(cuda_dense_cholesky)
- ceres_test(cuda_dense_qr)
- ceres_test(cuda_kernels_vector_ops)
- ceres_test(cuda_sparse_matrix)
- ceres_test(cuda_streamed_buffer)
- ceres_test(cuda_vector)
- ceres_test(dense_linear_solver)
- ceres_test(dense_cholesky)
- ceres_test(dense_qr)
- ceres_test(dense_sparse_matrix)
- ceres_test(detect_structure)
- ceres_test(dogleg_strategy)
- ceres_test(dynamic_autodiff_cost_function)
- ceres_test(dynamic_compressed_row_sparse_matrix)
- ceres_test(dynamic_numeric_diff_cost_function)
- ceres_test(dynamic_sparse_normal_cholesky_solver)
- ceres_test(dynamic_sparsity)
- ceres_test(evaluation_callback)
- ceres_test(evaluator)
- ceres_test(fixed_array)
- ceres_test(gradient_checker)
- ceres_test(gradient_checking_cost_function)
- ceres_test(gradient_problem)
- ceres_test(gradient_problem_solver)
- ceres_test(graph)
- ceres_test(graph_algorithms)
- ceres_test(householder_vector)
- ceres_test(implicit_schur_complement)
- ceres_test(inner_product_computer)
- ceres_test(invert_psd_matrix)
- ceres_test(integer_sequence_algorithm)
- ceres_test(is_close)
- ceres_test(iterative_refiner)
- ceres_test(iterative_schur_complement_solver)
- ceres_test(jet)
- ceres_test(jet_traits)
- ceres_test(levenberg_marquardt_strategy)
- ceres_test(line_search_minimizer)
- ceres_test(line_search_preprocessor)
- ceres_test(loss_function)
- ceres_test(manifold)
- ceres_test(minimizer)
- ceres_test(normal_prior)
- ceres_test(numeric_diff_cost_function)
- ceres_test(numeric_diff_first_order_function)
- ceres_test(ordered_groups)
- ceres_test(parallel_for)
- ceres_test(parallel_utils)
- ceres_test(parameter_block)
- ceres_test(parameter_block_ordering)
- ceres_test(parameter_dims)
- ceres_test(partitioned_matrix_view)
- ceres_test(polynomial)
- ceres_test(power_series_expansion_preconditioner)
- ceres_test(problem)
- ceres_test(program)
- ceres_test(reorder_program)
- ceres_test(residual_block)
- ceres_test(residual_block_utils)
- ceres_test(rotation)
- ceres_test(schur_complement_solver)
- ceres_test(schur_eliminator)
- ceres_test(single_linkage_clustering)
- ceres_test(small_blas)
- ceres_test(solver)
- ceres_test(sparse_cholesky)
- ceres_test(sparse_normal_cholesky_solver)
- ceres_test(subset_preconditioner)
- ceres_test(system)
- ceres_test(tiny_solver)
- ceres_test(tiny_solver_autodiff_function)
- ceres_test(tiny_solver_cost_function_adapter)
- ceres_test(thread_pool)
- ceres_test(triplet_sparse_matrix)
- ceres_test(trust_region_minimizer)
- ceres_test(trust_region_preprocessor)
- ceres_test(visibility)
- ceres_test(visibility_based_preconditioner)
- add_subdirectory(generated_bundle_adjustment_tests)
- endif (BUILD_TESTING AND GFLAGS)
- macro(add_dependencies_to_benchmark BENCHMARK_TARGET)
- target_include_directories(${BENCHMARK_TARGET}
- PRIVATE ${Ceres_SOURCE_DIR}/internal
- ${CERES_LIBRARY_PRIVATE_DEPENDENCIES_INCLUDE_DIRS})
-
-
- target_link_libraries(${BENCHMARK_TARGET}
- PRIVATE benchmark::benchmark ceres_static
- ${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
- endmacro()
- if (BUILD_BENCHMARKS)
- add_executable(evaluation_benchmark evaluation_benchmark.cc)
- add_dependencies_to_benchmark(evaluation_benchmark)
- add_executable(small_blas_gemv_benchmark small_blas_gemv_benchmark.cc)
- add_dependencies_to_benchmark(small_blas_gemv_benchmark)
- add_executable(small_blas_gemm_benchmark small_blas_gemm_benchmark.cc)
- add_dependencies_to_benchmark(small_blas_gemm_benchmark)
- add_executable(invert_psd_matrix_benchmark invert_psd_matrix_benchmark.cc)
- add_dependencies_to_benchmark(invert_psd_matrix_benchmark)
- add_executable(schur_eliminator_benchmark schur_eliminator_benchmark.cc)
- add_dependencies_to_benchmark(schur_eliminator_benchmark)
- add_executable(jet_operator_benchmark jet_operator_benchmark.cc)
- add_dependencies_to_benchmark(jet_operator_benchmark)
- add_executable(dense_linear_solver_benchmark dense_linear_solver_benchmark.cc)
- add_dependencies_to_benchmark(dense_linear_solver_benchmark)
- add_executable(spmv_benchmark spmv_benchmark.cc)
- add_dependencies_to_benchmark(spmv_benchmark)
- add_executable(parallel_vector_operations_benchmark parallel_vector_operations_benchmark.cc)
- add_dependencies_to_benchmark(parallel_vector_operations_benchmark)
- add_executable(parallel_for_benchmark parallel_for_benchmark.cc)
- add_dependencies_to_benchmark(parallel_for_benchmark)
- add_executable(block_jacobi_preconditioner_benchmark
- block_jacobi_preconditioner_benchmark.cc)
- add_dependencies_to_benchmark(block_jacobi_preconditioner_benchmark)
- add_subdirectory(autodiff_benchmarks)
- endif (BUILD_BENCHMARKS)
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