Ceres编译说明

Windows下编译ceres2.0.0的库文件

Android和Windows都编译成功

本人使用的是2.0.0版本，编译成功，测试可用

自己编写的Android需要的jni文件下载链接
https://download.csdn.net/download/qq_35947425/15841937

自己编译的ceres2.0.0库Android和Windows，下载链接
https://download.csdn.net/download/qq_35947425/15842442

编译前准备

1. ceres-solver-2.0.0
   ceres最新链接
2. Eigen 3.3 or later required.
3. CMake 3.5 or later required.
4. AndroidNDK 我使用的是AndroidStudioSdk中的Sdk\ndk\21.3.6528147版本的ndk-build,使用高版本23.0.7123448编译不通过，对应的你们可以下载使用21版本
5. VisualStudio

windows库

1. 安装cmake之后配置安装目录下bin文件夹到环境变量Path中

2. cmake编译Eigen
   在Eigen中创建Build文件夹，在文件夹中打开cmd窗口运行 cmake ..，等待编译完成即可，看见生成Eigen3Config.cmake和Eigen3Targets.cmake即可

3. 在ceres源码目录创建Build文件夹

4. 打开cmake.exe界面
   
   然后点Configure，此时会报错或者什么，修改编译配置
   然后再点击Configure，Generate此时会生成vs的工程
   打开vs工程然后编译生成ceres.lib即可，可运行测试工程测试

5. 然后新建文件夹CeresLib文件夹，然后新建lib和include文件夹

6. 拷贝lib文件到lib文件夹

7. 拷贝头文件相关到include文件夹中

   1. ceres-solver-2.0.0\include下的ceres文件夹到include
   2. ceres-solver-2.0.0\internal下的ceres文件夹到include(文件夹中的.h即可)
   3. ceres-solver-2.0.0\Build\config下的ceres文件夹到include
   4. ceres-solver-2.0.0\internal\ceres\miniglog下的glog文件夹到include

   此时include文件夹下有ceres文件夹和glog文件夹，只需配置一个include即可

8. 同时包含Eigen源码文件夹

Android库

1. 解压AndroidNDK之后，配置bin目录到环境变量Path

2. 下载我编写好的jni文件夹,将jni文件夹放到源码目录下

3. 修改jni目录下mk文件

4. 打开Android.mk 修改

   1. 85行 EIGEN_PATH := (你的Eigen源码文件夹)\Eigen
   2. 109行宏定义配置（如果需要和你编译的windows配置一样，打开windows下编译的目录Build\config\ceres\internal\config.h，按你定义的配置宏即可）
      或者不修改直接编译
   3. 126行 LOCAL_SRC_FILES 对照你的版本查看.cc文件是否包含完整，不包括xxtest.cc测试文件

   配置宏说明

// If defined, use the LGPL code in Eigen.
#define CERES_USE_EIGEN_SPARSE

// If defined, Ceres was compiled without LAPACK.
#define CERES_NO_LAPACK

// If defined, Ceres was compiled without SuiteSparse.
#define CERES_NO_SUITESPARSE

// If defined, Ceres was compiled without CXSparse.
#define CERES_NO_CXSPARSE

// If defined, Ceres was compiled without Apple's Accelerate framework solvers.
#define CERES_NO_ACCELERATE_SPARSE

#if defined(CERES_NO_SUITESPARSE) &&              \
    defined(CERES_NO_ACCELERATE_SPARSE) &&        \
    defined(CERES_NO_CXSPARSE) &&                 \
    !defined(CERES_USE_EIGEN_SPARSE)  // NOLINT
// If defined Ceres was compiled without any sparse linear algebra support.
#define CERES_NO_SPARSE
#endif

// If defined, Ceres was compiled without Schur specializations.
#define CERES_RESTRICT_SCHUR_SPECIALIZATION

// If defined, Ceres was compiled to use Eigen instead of hardcoded BLAS
// routines.
#define CERES_NO_CUSTOM_BLAS

// If defined, Ceres was compiled without multithreading support.
#define CERES_NO_THREADS
// If defined Ceres was compiled with OpenMP multithreading.
#define CERES_USE_OPENMP
// If defined Ceres was compiled with modern C++ multithreading.
#define CERES_USE_CXX_THREADS

// If defined, Ceres was built as a shared library.
#define CERES_USING_SHARED_LIBRARY

// If defined, Ceres was compiled with a version MSVC >= 2005 which
// deprecated the standard POSIX names for bessel functions, replacing them
// with underscore prefixed versions (e.g. j0() -> _j0()).
#define CERES_MSVC_USE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS

5. 修改Application.mk文件
   不需要修改 只能用c++14编译 低版本c++11有些不支持
6. 然后再源码目录下打开cmd窗口运行ndk-build 等待编译完成即可
7. 然后新建文件夹CeresLib文件夹，然后新建lib和include文件夹
   1. 拷贝.a文件到lib文件夹
   2. 拷贝头文件相关到include文件夹中
   3. ceres-solver-2.0.0\include下的ceres文件夹到include
   4. ceres-solver-2.0.0\internal下的ceres文件夹到include(文件夹中的.h即可)
   5. 复制ceres-solver-2.0.0\config\ceres\internal\config.h文件到include\ceres\internal、文件夹下，同时添加Android.mk 109行宏定义在此文件中（windows和Android配置不一样，注意修改）
   6. ceres-solver-2.0.0\internal\ceres\miniglog下的glog文件夹到include.
      此时include文件夹下有ceres文件夹和glog文件夹，只需配置一个include即可
      同时包含Eigen源码文件夹