Error to use ceres-solver for Android project

[Thúlio Araújo]

Hi Guys,

I am having some trouble to use ceres-solver library as libceres.a on an Android environment. I am using the latest version of Android Studio with all updated dependencies such as gradle, etc.

Also, I am compiling the code using CmakeList.txt instead of Android.mk and Application.mk.

So, when I synchronize the gradle it works fine, but when I build the project a lot of errors pops up on the log.

In attached you can see all the log of my application, build.gradle and my CmakeList.txt file to a better understanding of my problem.

Please, can you help me with these problems and tell me what's wrong with my project? It's been a while that I'm searching on the internet but no success yet.

[Keir Mierle]

Hi Thullo,

If you are re-doing the Ceres build, then you must set a bunch of the compiler defines for the includes to work. It is worth spending a moment with these defines to understand what they are doing. Please study the Android.mk to see what is done there; in particular this section:

LOCAL_CFLAGS := $(CERES_EXTRA_DEFINES) \


                -DCERES_NO_LAPACK \                                             
                -DCERES_NO_SUITESPARSE \                                        
                -DCERES_NO_CXSPARSE \                                           
                -DCERES_STD_UNORDERED_MAP                                                                                                                     
                                                                                
# If the user did not enable threads in CERES_EXTRA_DEFINES, then add           
# CERES_NO_THREADS.                                                             
#                                                                               
# TODO(sameeragarwal): Update comments here and in the docs to                  
# demonstrate how OpenMP can be used by the user.                               
ifeq (,$(findstring CERES_HAVE_PTHREAD, $(LOCAL_CFLAGS)))                       
  LOCAL_CFLAGS += -DCERES_NO_THREADS                                            
endif  

Thanks,

Keir

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[Keir Mierle]

To be clear: Those defines must be set when compiling any code that includes Ceres headers.

[Thúlio Araújo]

Hi Keir,

Thank you for your response. When I put those defines on gradle file it solved the compilation errors. Thank you so much!!

Best regards,

Thúlio.

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[Thúlio Araújo]

Hi Keir,

Would you mind to help me with this issue below?

My Android application is compiling fine but when I start it an error occurs at runtime... here is the log: 

11-17 20:40:57.773 7783-7783/? E/AndroidRuntime: FATAL EXCEPTION: main

                                                 Process: com.voxar.cslam, PID: 7783

                                                 java.lang.UnsatisfiedLinkError: dlopen failed: cannot locate symbol "_ZN6google16log_sinks_globalE" referenced by "/data/app/com.voxar.cslam-1/lib/arm64/libnative-lib.so"...

                                                     at java.lang.Runtime.loadLibrary0(Runtime.java:989)

                                                     at java.lang.System.loadLibrary(System.java:1530)

                                                     at com.voxar.cslam.MainActivity.<clinit>(MainActivity.java:25)

                                                     at java.lang.Class.newInstance(Native Method)

                                                     at android.app.Instrumentation.newActivity(Instrumentation.java:1079)

                                                     at android.app.ActivityThread.performLaunchActivity(ActivityThread.java:2557)

                                                     at android.app.ActivityThread.handleLaunchActivity(ActivityThread.java:2726)

                                                     at android.app.ActivityThread.-wrap12(ActivityThread.java)

                                                     at android.app.ActivityThread$H.handleMessage(ActivityThread.java:1477)

                                                     at android.os.Handler.dispatchMessage(Handler.java:102)

                                                     at android.os.Looper.loop(Looper.java:159)

                                                     at android.app.ActivityThread.main(ActivityThread.java:6139)

                                                     at java.lang.reflect.Method.invoke(Native Method)

                                                     at com.android.internal.os.ZygoteInit$MethodAndArgsCaller.run(ZygoteInit.java:886)

                                                     at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:776)

I'm suspecting that is some kind of error with the use of ceres on my c++ code... I've compiled ceres for armeabi-v7a and arm64-v8a, both with c++_static and gnustl_static but the error is shown for both too.

Best regards,

Thulio Araujo

[Keir Mierle]

You need to link a version of Google Log (glog) .so before you link in Ceres. Either do it statically, or load it dynamically, or use mini_glog which is slower but removes the dependence. Since it sounds like you are doing a custom build, you will have to figure out how to link in miniglog instead of normal google log.

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