Linking to ceres library on Android

Issue

I'm trying to compile and deploy ceres solver into an Android project.

I successfully compiled ceres (1.8.0 and 1.9.0, tried both), running ndk-build from the ceres jni folder.

Then, I use QtCreator to compile and deploy and Android project. It fails with the following error:

B:\Android\android-ndk-r10e/toolchains/arm-linux-androideabi-4.9/prebuilt/windows-x86_64/bin/arm-linux-androideabi-g++ --sysroot=B:\Android\android-ndk-r10e/platforms/android-9/arch-arm/ -Wl,-soname,libtest_3rdparty_inprg_ceres.so -Wl,--no-undefined -Wl,-z,noexecstack -shared -o libtest_3rdparty_inprg_ceres.so main.obj logging.obj   -LB:\Android\android-ndk-r10e/sources/cxx-stl/gnu-libstdc++/4.9/libs/armeabi-v7a -LB:\Android\android-ndk-r10e/platforms/android-9/arch-arm//usr/lib -lb:/dev/vobs_ext/libcpp/ceres/ceres-solver-1.9.0/lib/android_armeabi-v7a/gcc-4.8/libceres.a -LC:/Qt/5.5/android_armv7/lib -lQt5Widgets -Lc:\utils\android\ndk/sources/cxx-stl/gnu-libstdc++/4.8/libs/armeabi-v7a -Lc:\utils\android\ndk/platforms/android-9/arch-arm//usr/lib -lQt5Gui -lQt5Core -lGLESv2 -lgnustl_shared -llog -lz -lm -ldl -lc -lgcc
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/memory:3639: error: undefined reference to 'std::__1::__shared_weak_count::~__shared_weak_count()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/memory:4448: error: undefined reference to 'std::__1::__shared_weak_count::__release_shared()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ios:524: error: undefined reference to 'std::__1::ios_base::clear(unsigned int)'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/memory:4154: error: undefined reference to 'std::__1::__shared_weak_count::__add_shared()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/memory:4154: error: undefined reference to 'std::__1::__shared_weak_count::__add_shared()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ios:734: error: undefined reference to 'std::__1::ios_base::getloc() const'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/__locale:174: error: undefined reference to 'std::__1::locale::use_facet(std::__1::locale::id&) const'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ios:734: error: undefined reference to 'std::__1::locale::~locale()'
B:/dev/vobs_ext/libcpp/ceres/ceres-solver-1.9.0/jni/../internal/ceres/solver_impl.cc:123: error: undefined reference to 'std::__1::cout'
B:/dev/vobs_ext/libcpp/ceres/ceres-solver-1.9.0/jni/../internal/ceres/solver_impl.cc:123: error: undefined reference to 'std::__1::ctype<char>::id'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ios:734: error: undefined reference to 'std::__1::ios_base::getloc() const'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/__locale:174: error: undefined reference to 'std::__1::locale::use_facet(std::__1::locale::id&) const'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ios:734: error: undefined reference to 'std::__1::locale::~locale()'
B:/dev/vobs_ext/libcpp/ceres/ceres-solver-1.9.0/jni/../internal/ceres/solver_impl.cc:158: error: undefined reference to 'std::__1::cout'
B:/dev/vobs_ext/libcpp/ceres/ceres-solver-1.9.0/jni/../internal/ceres/solver_impl.cc:158: error: undefined reference to 'std::__1::ctype<char>::id'
b:/dev/vobs_ext/libcpp/ceres/ceres-solver-1.9.0/lib/android_armeabi-v7a/gcc-4.8/libceres.a(solver_impl.o):solver_impl.cc:vtable for std::__1::__shared_ptr_pointer<ceres::OrderedGroups<double*>*, std::__1::default_delete<ceres::OrderedGroups<double*> >, std::__1::allocator<ceres::OrderedGroups<double*> > >: error: undefined reference to 'std::__1::__shared_weak_count::__get_deleter(std::type_info const&) const'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ostream:508: error: undefined reference to 'std::__1::ios_base::getloc() const'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/__locale:174: error: undefined reference to 'std::__1::locale::use_facet(std::__1::locale::id&) const'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ostream:508: error: undefined reference to 'std::__1::locale::~locale()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ios:734: error: undefined reference to 'std::__1::ios_base::getloc() const'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/__locale:174: error: undefined reference to 'std::__1::locale::use_facet(std::__1::locale::id&) const'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ios:734: error: undefined reference to 'std::__1::locale::~locale()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ios:524: error: undefined reference to 'std::__1::ios_base::clear(unsigned int)'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ostream:520: error: undefined reference to 'std::__1::num_put<char, std::__1::ostreambuf_iterator<char, std::__1::char_traits<char> > >::id'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ostream:520: error: undefined reference to 'std::__1::ctype<char>::id'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ios:668: error: undefined reference to 'std::__1::ios_base::init(void*)'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/streambuf:370: error: undefined reference to 'std::__1::locale::locale()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/__hash_table:1944: error: undefined reference to 'std::__1::__next_prime(unsigned int)'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/__hash_table:1955: error: undefined reference to 'std::__1::__next_prime(unsigned int)'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/__hash_table:1944: error: undefined reference to 'std::__1::__next_prime(unsigned int)'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/__hash_table:1955: error: undefined reference to 'std::__1::__next_prime(unsigned int)'
b:/dev/vobs_ext/libcpp/ceres/ceres-solver-1.9.0/lib/android_armeabi-v7a/gcc-4.8/libceres.a(schur_eliminator.o):schur_eliminator.cc:vtable for ceres::internal::SchurEliminator<2, 4, 8>: error: undefined reference to 'ceres::internal::SchurEliminator<2, 4, 8>::~SchurEliminator()'
b:/dev/vobs_ext/libcpp/ceres/ceres-solver-1.9.0/lib/android_armeabi-v7a/gcc-4.8/libceres.a(schur_eliminator.o):schur_eliminator.cc:vtable for ceres::internal::SchurEliminator<2, 4, 8>: error: undefined reference to 'ceres::internal::SchurEliminator<2, 4, 8>::~SchurEliminator()'
b:/dev/vobs_ext/libcpp/ceres/ceres-solver-1.9.0/lib/android_armeabi-v7a/gcc-4.8/libceres.a(schur_eliminator.o):schur_eliminator.cc:vtable for ceres::internal::SchurEliminator<2, 4, 8>: error: undefined reference to 'ceres::internal::SchurEliminator<2, 4, 8>::Init(int, ceres::internal::CompressedRowBlockStructure const*)'
b:/dev/vobs_ext/libcpp/ceres/ceres-solver-1.9.0/lib/android_armeabi-v7a/gcc-4.8/libceres.a(schur_eliminator.o):schur_eliminator.cc:vtable for ceres::internal::SchurEliminator<2, 4, 8>: error: undefined reference to 'ceres::internal::SchurEliminator<2, 4, 8>::Eliminate(ceres::internal::BlockSparseMatrix const*, double const*, double const*, ceres::internal::BlockRandomAccessMatrix*, double*)'
b:/dev/vobs_ext/libcpp/ceres/ceres-solver-1.9.0/lib/android_armeabi-v7a/gcc-4.8/libceres.a(schur_eliminator.o):schur_eliminator.cc:vtable for ceres::internal::SchurEliminator<2, 4, 8>: error: undefined reference to 'ceres::internal::SchurEliminator<2, 4, 8>::BackSubstitute(ceres::internal::BlockSparseMatrix const*, double const*, double const*, double const*, double*)'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/algorithm:3077: error: undefined reference to 'std::__1::__rs_get()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/algorithm:2912: error: undefined reference to 'std::__1::__rs_default::operator()()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/algorithm:2912: error: undefined reference to 'std::__1::__rs_default::operator()()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/algorithm:3083: error: undefined reference to 'std::__1::__rs_default::~__rs_default()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/algorithm:3077: error: undefined reference to 'std::__1::__rs_get()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/algorithm:2912: error: undefined reference to 'std::__1::__rs_default::operator()()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/algorithm:2912: error: undefined reference to 'std::__1::__rs_default::operator()()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/algorithm:3083: error: undefined reference to 'std::__1::__rs_default::~__rs_default()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/algorithm:3077: error: undefined reference to 'std::__1::__rs_get()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/algorithm:3083: error: undefined reference to 'std::__1::__rs_default::~__rs_default()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/algorithm:3077: error: undefined reference to 'std::__1::__rs_get()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/algorithm:3083: error: undefined reference to 'std::__1::__rs_default::~__rs_default()'
B:/dev/vobs_ext/libcpp/ceres/ceres-solver-1.9.0/jni/../internal/ceres/partitioned_matrix_view.cc:118: error: undefined reference to 'ceres::internal::PartitionedMatrixView<2, 4, 8>::PartitionedMatrixView(ceres::internal::BlockSparseMatrix const&, int)'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ios:661: error: undefined reference to 'std::__1::ios_base::~ios_base()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ios:524: error: undefined reference to 'std::__1::ios_base::clear(unsigned int)'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/streambuf:370: error: undefined reference to 'std::__1::locale::locale()'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ios:524: error: undefined reference to 'std::__1::ios_base::clear(unsigned int)'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ostream:494: error: undefined reference to 'std::__1::num_put<char, std::__1::ostreambuf_iterator<char, std::__1::char_traits<char> > >::id'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ostream:494: error: undefined reference to 'std::__1::ctype<char>::id'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ostream:728: error: undefined reference to 'std::__1::num_put<char, std::__1::ostreambuf_iterator<char, std::__1::char_traits<char> > >::id'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ostream:676: error: undefined reference to 'std::__1::num_put<char, std::__1::ostreambuf_iterator<char, std::__1::char_traits<char> > >::id'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ios:668: error: undefined reference to 'std::__1::ios_base::init(void*)'
B:/Android/android-ndk-r10e/sources/cxx-stl/llvm-libc++/libcxx/include/ios:668: error: undefined reference to 'std::__1::ios_base::init(void*)'
collect2.exe: error: ld returned 1 exit status
makefile:82: recipe for target 'libtest_3rdparty_inprg_ceres.so' failed
mingw32-make: *** [libtest_3rdparty_inprg_ceres.so] Error 1
13:17:13: Le processus "C:\Qt\Tools\mingw492_32\bin\mingw32-make.exe" s'est terminé avec le code 2.
Erreur lors de la compilation/déploiement du projet test_3rdparty_inprg_ceres (kit : Android for armeabi-v7a (GCC 4.9, Qt 5.5.0))
When executing step "Make"
13:17:13: Temps écoulé : 00:08.

I'm wondering if this could be due to ceres linking with c++ libraries statically, while my program links then dynamically....but have no clue how to solve this.

Solution

All libraries in your app SHOULD use the same STL runtime. But speaking about static libraries, they MUST use the same STL configuration. If you did not change cerces-solver/jni/Application.mk, it will expect APP_STL=c++_static. You can override this to use APP_STL=c++_shared, but you need a very good reason to change the way this external library is built. Much easier to switch your program to APP_STL=c++_static.

Edited by jpo38: There are actually other things to be changed to have libceres.so be generated instead of libceres.a:

• Add LOCAL_LDLIBS := -L$(SYSROOT)/usr/lib -llog in Android.mk
• Replace include $(BUILD_STATIC_LIBRARY) by include $(BUILD_SHARED_LIBRARY) in Android.mk
• Add -DCERES_BUILDING_SHARED_LIBRARY and -DCERES_RESTRICT_SCHUR_SPECIALIZATION (dunno why this second one helps, looks like Shur stuff does not like shared linkage) to LOCAL_CFLAGS in Android.mk

Then, the dynamic library is generated and may be used.

Answered By - Alex Cohn