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M1 Macでceres-solver(v2.2.0)のビルド

2024/02/27に公開

brewで以下をインストール。

brew install cmake
brew install ceres-solver  # 2024/2のHEADはv2.2.0。Eigen等もインストールされる

CmakeLists.txtを作成します。

cmake_minimum_required(VERSION 3.6)
project(a.out VERSION 0.0.1)
add_executable(${PROJECT_NAME} helloworld.cc)

# 参考 https://qiita.com/mitsuruk9999/items/b8a4094f558a9c36e208
set(BREW_DIR "/opt/homebrew")
target_include_directories(${PROJECT_NAME} PRIVATE ${BREW_DIR}/include)
target_link_directories(${PROJECT_NAME} PRIVATE ${BREW_DIR}/lib)

find_package(Ceres REQUIRED)
target_link_libraries(${PROJECT_NAME} PRIVATE ${CERES_LIBRARIES})
target_include_directories(${PROJECT_NAME} PRIVATE ${CERES_INCLUDE_DIRS})

target_compile_features(${PROJECT_NAME} PRIVATE c_std_17 cxx_std_17)
target_compile_options(${PROJECT_NAME} PRIVATE -O2 -Wall )

v2.2.0のexample/helloworld.ccをビルドして実行します。^[1]

cmake .
make
./a.out

出力が以下のようになれば成功です。

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.512500e+01    0.00e+00    9.50e+00   0.00e+00   0.00e+00  1.00e+04        0    4.99e-04    8.29e-03
   1  4.511598e-07    4.51e+01    9.50e-04   0.00e+00   1.00e+00  3.00e+04        1    1.88e-03    1.03e-02
   2  5.012552e-16    4.51e-07    3.17e-08   9.50e-04   1.00e+00  9.00e+04        1    3.10e-06    1.03e-02
Ceres Solver Report: Iterations: 3, Initial cost: 4.512500e+01, Final cost: 5.012552e-16, Termination: CONVERGENCE
x : 0.5 -> 10

参考

脚注

最新のexample/helloworld.ccだとAutoDiffCostFunctionの引数が無いので注意 https://ceres-solver.googlesource.com/ceres-solver/+/91773746be74a58029f6ecfc0c82a3b22492ed12^!/examples/helloworld.cc ↩︎

参考

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