| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2010, 2011, 2012 Google Inc. All rights reserved. |
| // http://code.google.com/p/ceres-solver/ |
| // |
| // Redistribution and use in source and binary forms, with or without |
| // modification, are permitted provided that the following conditions are met: |
| // |
| // * Redistributions of source code must retain the above copyright notice, |
| // this list of conditions and the following disclaimer. |
| // * Redistributions in binary form must reproduce the above copyright notice, |
| // this list of conditions and the following disclaimer in the documentation |
| // and/or other materials provided with the distribution. |
| // * Neither the name of Google Inc. nor the names of its contributors may be |
| // used to endorse or promote products derived from this software without |
| // specific prior written permission. |
| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| # |
| # Copyright 2011 Google Inc. All Rights Reserved. |
| # Author: sameeragarwal@google.com (Sameer Agarwal) |
| # |
| # Script for explicitly generating template specialization of the |
| # SchurEliminator class. It is a rather large class |
| # and the number of explicit instantiations is also large. Explicitly |
| # generating these instantiations in separate .cc files breaks the |
| # compilation into separate compilation unit rather than one large cc |
| # file which takes 2+GB of RAM to compile. |
| # |
| # This script creates two sets of files. |
| # |
| # 1. schur_eliminator_x_x_x.cc |
| # where, the x indicates the template parameters and |
| # |
| # 2. schur_eliminator.cc |
| # |
| # that contains a factory function for instantiating these classes |
| # based on runtime parameters. |
| # |
| # The list of tuples, specializations indicates the set of |
| # specializations that is generated. |
| |
| # Set of template specializations to generate |
| SPECIALIZATIONS = [(2, 2, 2), |
| (2, 2, 3), |
| (2, 2, 4), |
| (2, 2, "Dynamic"), |
| (2, 3, 3), |
| (2, 3, 4), |
| (2, 3, 9), |
| (2, 3, "Dynamic"), |
| (2, 4, 3), |
| (2, 4, 4), |
| (2, 4, "Dynamic"), |
| (4, 4, 2), |
| (4, 4, 3), |
| (4, 4, 4), |
| (4, 4, "Dynamic"), |
| ("Dynamic", "Dynamic", "Dynamic")] |
| |
| SPECIALIZATION_FILE = """// Copyright 2011 Google Inc. All Rights Reserved. |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| // |
| // Template specialization of SchurEliminator. |
| // |
| // ======================================== |
| // THIS FILE IS AUTOGENERATED. DO NOT EDIT. |
| // THIS FILE IS AUTOGENERATED. DO NOT EDIT. |
| // THIS FILE IS AUTOGENERATED. DO NOT EDIT. |
| // THIS FILE IS AUTOGENERATED. DO NOT EDIT. |
| //========================================= |
| // |
| // This file is generated using generate_eliminator_specializations.py. |
| // Editing it manually is not recommended. |
| |
| #include "ceres/schur_eliminator_impl.h" |
| #include "ceres/internal/eigen.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| template class SchurEliminator<%s, %s, %s>; |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| """ |
| |
| FACTORY_FILE_HEADER = """// Copyright 2011 Google Inc. All Rights Reserved. |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| // |
| // ======================================== |
| // THIS FILE IS AUTOGENERATED. DO NOT EDIT. |
| // THIS FILE IS AUTOGENERATED. DO NOT EDIT. |
| // THIS FILE IS AUTOGENERATED. DO NOT EDIT. |
| // THIS FILE IS AUTOGENERATED. DO NOT EDIT. |
| //========================================= |
| // |
| // This file is generated using generate_template_specializations.py. |
| // Editing it manually is not recommended. |
| |
| #include "ceres/linear_solver.h" |
| #include "ceres/schur_eliminator.h" |
| #include "ceres/internal/eigen.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| SchurEliminatorBase* |
| SchurEliminatorBase::Create(const LinearSolver::Options& options) { |
| #ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION |
| """ |
| |
| FACTORY_CONDITIONAL = """ if ((options.row_block_size == %s) && |
| (options.e_block_size == %s) && |
| (options.f_block_size == %s)) { |
| return new SchurEliminator<%s, %s, %s>(options); |
| } |
| """ |
| |
| FACTORY_FOOTER = """ |
| #endif |
| VLOG(1) << "Template specializations not found for <" |
| << options.row_block_size << "," |
| << options.e_block_size << "," |
| << options.f_block_size << ">"; |
| return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options); |
| } |
| |
| } // namespace internal |
| } // namespace ceres |
| """ |
| |
| |
| def SuffixForSize(size): |
| if size == "Dynamic": |
| return "d" |
| return str(size) |
| |
| |
| def SpecializationFilename(prefix, row_block_size, e_block_size, f_block_size): |
| return "_".join([prefix] + map(SuffixForSize, (row_block_size, |
| e_block_size, |
| f_block_size))) |
| |
| |
| def Specialize(): |
| """ |
| Generate specialization code and the conditionals to instantiate it. |
| """ |
| f = open("schur_eliminator.cc", "w") |
| f.write(FACTORY_FILE_HEADER) |
| |
| for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS: |
| output = SpecializationFilename("generated/schur_eliminator", |
| row_block_size, |
| e_block_size, |
| f_block_size) + ".cc" |
| fptr = open(output, "w") |
| fptr.write(SPECIALIZATION_FILE % (row_block_size, |
| e_block_size, |
| f_block_size)) |
| fptr.close() |
| |
| f.write(FACTORY_CONDITIONAL % (row_block_size, |
| e_block_size, |
| f_block_size, |
| row_block_size, |
| e_block_size, |
| f_block_size)) |
| f.write(FACTORY_FOOTER) |
| f.close() |
| |
| |
| if __name__ == "__main__": |
| Specialize() |
