How to Fix the Error One of CERES_USE_OPENMP, CERES_USE_CXX11_THREADS or CERES_NO_THREADS must be defined in Ceres Solver Android

Question

I am integrating Ceres Solver Library in my Android Application. I have created the prebuilt shared library (.so files) for all the architecture using CMakeLists.txt in Android Studio. Now I want to implement the Bundle adjustment in Java/Kotlin with OpenCV java wrappers.

To consume Ceres Solver in Android application we have to write the ceres solver logic in C++ using .so file and header files of the Ceres Solver and its dependency libraries. Then we have to write the wrappers to our own methods to consume in Java / Kotlin.

For this I am using the following CMakeLists.txt file

# For more information about using CMake with Android Studio, read the
# documentation: https://d.android.com/studio/projects/add-native-code.html

# Sets the minimum version of CMake required to build the native library.

cmake_minimum_required(VERSION 3.4.1)

add_library( # Sets the name of the library.
             native-lib

             # Sets the library as a shared library.
             SHARED

             # Provides a relative path to your source file(s).
             native-lib.cpp )


find_library( # Sets the name of the path variable.
              log-lib

              # Specifies the name of the NDK library that
              # you want CMake to locate.
              log )

target_link_libraries( # Specifies the target library.
                       native-lib

                       # Links the target library to the log library
                       # included in the NDK.
                       ${log-lib} )


include_directories( C:/eigen-eigen-323c052e1731 )
include_directories( C:/My_Data/Ceres-Solver-Builder/ceres-solver/include )
include_directories( C:/My_Data/Ceres-Solver-Builder/ceres-solver/config )
include_directories( C:/My_Data/Ceres-Solver-Builder/ceres-solver/internal/ceres/miniglog )
include_directories( C:/My_Data/Ceres-Solver-Builder/ceres-solver/internal )

add_library( ceres-lib SHARED IMPORTED)
set_target_properties( # Specifies the target library.
        ceres-lib

        # Specifies the parameter you want to define.
        PROPERTIES IMPORTED_LOCATION

        # Provides the path to the library you want to import.
        C:/My_Data/AS_Workspace/JNIApplication/app/src/main/jniLibs/${ANDROID_ABI}/libceres.so )
target_link_libraries( native-lib ceres-lib ${log-lib})

Sample C++ file that uses Ceres Solver classes and methods native-lib.cpp

#include <jni.h>
#include <string>
#include <bitset>

#include "ceres/ceres.h"
#include "glog/logging.h"

using ceres::AutoDiffCostFunction;
using ceres::CostFunction;
using ceres::Problem;
using ceres::Solver;
using ceres::Solve;
int test();

extern "C" JNIEXPORT jstring JNICALL
Java_com_trimble_jniapplication_MainActivity_stringFromJNI(
        JNIEnv* env,
        jobject /* this */) {
    std::string hello = "Hello from C++";

    test();

    return env->NewStringUTF(hello.c_str());
}



// A templated cost functor that implements the residual r = 10 -
// x. The method operator() is templated so that we can then use an
// automatic differentiation wrapper around it to generate its
// derivatives.
struct CostFunctor {
    template<typename T>
    bool operator()(const T *const x, T *residual) const {
        residual[0] = 10.0 - x[0];
        return true;
    }
};

int test() {
    //google::InitGoogleLogging(argv[0]);

    // The variable to solve for with its initial value. It will be
    // mutated in place by the solver.
    double x = 0.5;
    const double initial_x = x;

    // Build the problem.
    Problem problem;

    // Set up the only cost function (also known as residual). This uses
    // auto-differentiation to obtain the derivative (jacobian).
    CostFunction *cost_function = new AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
    problem.AddResidualBlock(cost_function, NULL, &x);

    // Run the solver!
    Solver::Options options;
    options.minimizer_progress_to_stdout = true;
    Solver::Summary summary;
    Solve(options, &problem, &summary);

    std::cout << summary.BriefReport() << "\n";
    std::cout << "x : " << initial_x
              << " -> " << x << "\n";
    return 0;
}

When I build the application I am getting the following error.

error One of CERES_USE_OPENMP, CERES_USE_CXX11_THREADS or CERES_NO_THREADS must be defined.

I am new to NDK, Cmake, and Ceres Solver, So I don't know how to fix this problem. Someone please suggest me how to fix the problem or point me what I am doing wrong. Thanks in advance.

You need to define one of these preprocessor macros before you include the `ceres/ceres.h` header. Either with `#define` in your C++ code or with `add_definitions(-DCERES...)` in CMake. — Botje, Oct 09 '19 at 11:14
@Botje Thanks for your comment. Now I have added add_definitions( -DCERES_NO_THREADS ) in CMakeLists.txt and the error is gone. Thanks again. — Kumar M, Oct 09 '19 at 11:31

Kevin · Answer 1 · 2019-10-09T13:22:55.220

As commented, you need to define at least one of these preprocessor definitions when using Ceres (see logic here). You can add definitions to the compilation with CMake using target_compile_definitions():

add_library( # Sets the name of the library.
             native-lib

             # Sets the library as a shared library.
             SHARED

             # Provides a relative path to your source file(s).
             native-lib.cpp )

target_compile_definitions(native-lib PRIVATE CERES_USE_CXX11_THREADS=1)

...

How to Fix the Error One of CERES_USE_OPENMP, CERES_USE_CXX11_THREADS or CERES_NO_THREADS must be defined in Ceres Solver Android

1 Answers1