| # Ceres Solver - A fast non-linear least squares minimizer |
| # Copyright 2015 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 2017 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() |