Initial commit of Ceres Solver.
diff --git a/internal/ceres/generate_eliminator_specialization.py b/internal/ceres/generate_eliminator_specialization.py
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+++ b/internal/ceres/generate_eliminator_specialization.py
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+// 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()
