internal/ceres/generate_template_specializations.py - ceres-solver - Git at Google

 # Ceres Solver - A fast non-linear least squares minimizer
 # Copyright 2023 Google Inc. All rights reserved.
 # http://ceres-solver.org/
 #
 # 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.
 #
 # 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 three sets of files.
 #
 # 1. schur_eliminator_x_x_x.cc and partitioned_matrix_view_x_x_x.cc
 # where, the x indicates the template parameters and
 #
 # 2. schur_eliminator.cc & partitioned_matrix_view.cc
 #
 # that contains a factory function for instantiating these classes
 # based on runtime parameters.
 #
 # 3. schur_templates.cc
 #
 # that contains a function which can be queried to determine what
 # template specializations are available.
 #
 # The following list of tuples, specializations indicates the set of
 # specializations that is generated.
 SPECIALIZATIONS = [(2, 2, 2),
                    (2, 2, 3),
                    (2, 2, 4),
                    (2, 2, "Eigen::Dynamic"),
                    (2, 3, 3),
                    (2, 3, 4),
                    (2, 3, 6),
                    (2, 3, 9),
                    (2, 3, "Eigen::Dynamic"),
                    (2, 4, 3),
                    (2, 4, 4),
                    (2, 4, 6),
                    (2, 4, 8),
                    (2, 4, 9),
                    (2, 4, "Eigen::Dynamic"),
                    (2, "Eigen::Dynamic", "Eigen::Dynamic"),
                    (3, 3, 3),
                    (4, 4, 2),
                    (4, 4, 3),
                    (4, 4, 4),
                    (4, 4, "Eigen::Dynamic")]

 import schur_eliminator_template
 import partitioned_matrix_view_template
 import os
 import glob

 def SuffixForSize(size):
   if size == "Eigen::Dynamic":
     return "d"
   return str(size)

 def SpecializationFilename(prefix, row_block_size, e_block_size, f_block_size):
   return "_".join([prefix] + list(map(SuffixForSize, (row_block_size,
                                                  e_block_size,
                                                  f_block_size))))

 def GenerateFactoryConditional(row_block_size, e_block_size, f_block_size):
   conditionals = []
   if (row_block_size != "Eigen::Dynamic"):
     conditionals.append("(options.row_block_size == %s)" % row_block_size)
   if (e_block_size != "Eigen::Dynamic"):
     conditionals.append("(options.e_block_size == %s)" % e_block_size)
   if (f_block_size != "Eigen::Dynamic"):
     conditionals.append("(options.f_block_size == %s)" % f_block_size)
   if (len(conditionals) == 0):
     return "%s"

   if (len(conditionals) == 1):
     return "  if " + conditionals[0] + " {\n  %s\n  }\n"

   return "  if (" + " &&\n     ".join(conditionals) + ") {\n  %s\n  }\n"

 def Specialize(name, data):
   """
   Generate specialization code and the conditionals to instantiate it.
   """

   # Specialization files
   for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
       output = SpecializationFilename("generated/" + name,
                                       row_block_size,
                                       e_block_size,
                                       f_block_size) + ".cc"

       with open(output, "w") as f:
         f.write(data["HEADER"])
         f.write(data["SPECIALIZATION_FILE"] %
                   (row_block_size, e_block_size, f_block_size))

   # Generate the _d_d_d specialization.
   output = SpecializationFilename("generated/" + name,
                                    "Eigen::Dynamic",
                                    "Eigen::Dynamic",
                                    "Eigen::Dynamic") + ".cc"
   with open(output, "w") as f:
     f.write(data["HEADER"])
     f.write(data["DYNAMIC_FILE"] %
               ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic"))

   # Factory
   with open(name + ".cc", "w") as f:
     f.write(data["HEADER"])
     f.write(data["FACTORY_FILE_HEADER"])
     for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
         factory_conditional = GenerateFactoryConditional(
             row_block_size, e_block_size, f_block_size)
         factory = data["FACTORY"] % (row_block_size, e_block_size, f_block_size)
         f.write(factory_conditional % factory);
     f.write(data["FACTORY_FOOTER"])

 QUERY_HEADER = """// Ceres Solver - A fast non-linear least squares minimizer
 // Copyright 2023 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // 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.
 //
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 //
 // What template specializations are available.
 //
 // ========================================
 // 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.
 """

 QUERY_FILE_HEADER = """
 #include "ceres/internal/eigen.h"
 #include "ceres/schur_templates.h"

 namespace ceres {
 namespace internal {

 void GetBestSchurTemplateSpecialization(int* row_block_size,
                                         int* e_block_size,
                                         int* f_block_size) {
   LinearSolver::Options options;
   options.row_block_size = *row_block_size;
   options.e_block_size = *e_block_size;
   options.f_block_size = *f_block_size;
   *row_block_size = Eigen::Dynamic;
   *e_block_size = Eigen::Dynamic;
   *f_block_size = Eigen::Dynamic;
 #ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
 """

 QUERY_FOOTER = """
 #endif
   return;
 }

 }  // namespace internal
 }  // namespace ceres
 """

 QUERY_ACTION = """  *row_block_size = %s;
     *e_block_size = %s;
     *f_block_size = %s;
     return;"""

 def GenerateQueryFile():
   """
   Generate file that allows querying for available template specializations.
   """

   with open("schur_templates.cc", "w") as f:
     f.write(QUERY_HEADER)
     f.write(QUERY_FILE_HEADER)
     for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
       factory_conditional = GenerateFactoryConditional(
         row_block_size, e_block_size, f_block_size)
       action = QUERY_ACTION % (row_block_size, e_block_size, f_block_size)
       f.write(factory_conditional % action)
     f.write(QUERY_FOOTER)


 if __name__ == "__main__":
   for f in glob.glob("generated/*"):
     os.remove(f)

   Specialize("schur_eliminator",
                schur_eliminator_template.__dict__)
   Specialize("partitioned_matrix_view",
                partitioned_matrix_view_template.__dict__)
   GenerateQueryFile()
	# Ceres Solver - A fast non-linear least squares minimizer
	# Copyright 2023 Google Inc. All rights reserved.
	# http://ceres-solver.org/
	#
	# 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.
	#
	# 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 three sets of files.
	#
	# 1. schur_eliminator_x_x_x.cc and partitioned_matrix_view_x_x_x.cc
	# where, the x indicates the template parameters and
	#
	# 2. schur_eliminator.cc & partitioned_matrix_view.cc
	#
	# that contains a factory function for instantiating these classes
	# based on runtime parameters.
	#
	# 3. schur_templates.cc
	#
	# that contains a function which can be queried to determine what
	# template specializations are available.
	#
	# The following list of tuples, specializations indicates the set of
	# specializations that is generated.
	SPECIALIZATIONS = [(2, 2, 2),
	(2, 2, 3),
	(2, 2, 4),
	(2, 2, "Eigen::Dynamic"),
	(2, 3, 3),
	(2, 3, 4),
	(2, 3, 6),
	(2, 3, 9),
	(2, 3, "Eigen::Dynamic"),
	(2, 4, 3),
	(2, 4, 4),
	(2, 4, 6),
	(2, 4, 8),
	(2, 4, 9),
	(2, 4, "Eigen::Dynamic"),
	(2, "Eigen::Dynamic", "Eigen::Dynamic"),
	(3, 3, 3),
	(4, 4, 2),
	(4, 4, 3),
	(4, 4, 4),
	(4, 4, "Eigen::Dynamic")]

	import schur_eliminator_template
	import partitioned_matrix_view_template
	import os
	import glob

	def SuffixForSize(size):
	if size == "Eigen::Dynamic":
	return "d"
	return str(size)

	def SpecializationFilename(prefix, row_block_size, e_block_size, f_block_size):
	return "_".join([prefix] + list(map(SuffixForSize, (row_block_size,
	e_block_size,
	f_block_size))))

	def GenerateFactoryConditional(row_block_size, e_block_size, f_block_size):
	conditionals = []
	if (row_block_size != "Eigen::Dynamic"):
	conditionals.append("(options.row_block_size == %s)" % row_block_size)
	if (e_block_size != "Eigen::Dynamic"):
	conditionals.append("(options.e_block_size == %s)" % e_block_size)
	if (f_block_size != "Eigen::Dynamic"):
	conditionals.append("(options.f_block_size == %s)" % f_block_size)
	if (len(conditionals) == 0):
	return "%s"

	if (len(conditionals) == 1):
	return " if " + conditionals[0] + " {\n %s\n }\n"

	return " if (" + " &&\n ".join(conditionals) + ") {\n %s\n }\n"

	def Specialize(name, data):
	"""
	Generate specialization code and the conditionals to instantiate it.
	"""

	# Specialization files
	for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
	output = SpecializationFilename("generated/" + name,
	row_block_size,
	e_block_size,
	f_block_size) + ".cc"

	with open(output, "w") as f:
	f.write(data["HEADER"])
	f.write(data["SPECIALIZATION_FILE"] %
	(row_block_size, e_block_size, f_block_size))

	# Generate the _d_d_d specialization.
	output = SpecializationFilename("generated/" + name,
	"Eigen::Dynamic",
	"Eigen::Dynamic",
	"Eigen::Dynamic") + ".cc"
	with open(output, "w") as f:
	f.write(data["HEADER"])
	f.write(data["DYNAMIC_FILE"] %
	("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic"))

	# Factory
	with open(name + ".cc", "w") as f:
	f.write(data["HEADER"])
	f.write(data["FACTORY_FILE_HEADER"])
	for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
	factory_conditional = GenerateFactoryConditional(
	row_block_size, e_block_size, f_block_size)
	factory = data["FACTORY"] % (row_block_size, e_block_size, f_block_size)
	f.write(factory_conditional % factory);
	f.write(data["FACTORY_FOOTER"])

	QUERY_HEADER = """// Ceres Solver - A fast non-linear least squares minimizer
	// Copyright 2023 Google Inc. All rights reserved.
	// http://ceres-solver.org/
	//
	// 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.
	//
	// Author: sameeragarwal@google.com (Sameer Agarwal)
	//
	// What template specializations are available.
	//
	// ========================================
	// 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.
	"""

	QUERY_FILE_HEADER = """
	#include "ceres/internal/eigen.h"
	#include "ceres/schur_templates.h"

	namespace ceres {
	namespace internal {

	void GetBestSchurTemplateSpecialization(int* row_block_size,
	int* e_block_size,
	int* f_block_size) {
	LinearSolver::Options options;
	options.row_block_size = *row_block_size;
	options.e_block_size = *e_block_size;
	options.f_block_size = *f_block_size;
	*row_block_size = Eigen::Dynamic;
	*e_block_size = Eigen::Dynamic;
	*f_block_size = Eigen::Dynamic;
	#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
	"""

	QUERY_FOOTER = """
	#endif
	return;
	}

	} // namespace internal
	} // namespace ceres
	"""

	QUERY_ACTION = """ *row_block_size = %s;
	*e_block_size = %s;
	*f_block_size = %s;
	return;"""

	def GenerateQueryFile():
	"""
	Generate file that allows querying for available template specializations.
	"""

	with open("schur_templates.cc", "w") as f:
	f.write(QUERY_HEADER)
	f.write(QUERY_FILE_HEADER)
	for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
	factory_conditional = GenerateFactoryConditional(
	row_block_size, e_block_size, f_block_size)
	action = QUERY_ACTION % (row_block_size, e_block_size, f_block_size)
	f.write(factory_conditional % action)
	f.write(QUERY_FOOTER)


	if __name__ == "__main__":
	for f in glob.glob("generated/*"):
	os.remove(f)

	Specialize("schur_eliminator",
	schur_eliminator_template.__dict__)
	Specialize("partitioned_matrix_view",
	partitioned_matrix_view_template.__dict__)
	GenerateQueryFile()