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

 # Ceres Solver - A fast non-linear least squares minimizer
 # Copyright 2018 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: keir@google.com (Keir Mierle)
 #
 # Generate bundle adjustment tests as separate binaries. Since the bundle
 # adjustment tests are fairly processing intensive, serializing them makes the
 # tests take forever to run. Splitting them into separate binaries makes it
 # easier to parallelize in continuous integration systems, and makes local
 # processing on multi-core workstations much faster.

 # Product of ORDERINGS, THREAD_CONFIGS, and SOLVER_CONFIGS is the full set of
 # tests to generate.
 ORDERINGS = ["kAutomaticOrdering", "kUserOrdering"]
 SINGLE_THREADED = "1"
 MULTI_THREADED = "4"
 THREAD_CONFIGS = [SINGLE_THREADED, MULTI_THREADED]

 SOLVER_CONFIGS = [
   # Linear solver            Sparse backend      Preconditioner
   ('DENSE_SCHUR',            'NO_SPARSE',        'IDENTITY'),
   ('ITERATIVE_SCHUR',        'NO_SPARSE',        'JACOBI'),
   ('ITERATIVE_SCHUR',        'NO_SPARSE',        'SCHUR_JACOBI'),
   ('ITERATIVE_SCHUR',        'SUITE_SPARSE',     'CLUSTER_JACOBI'),
   ('ITERATIVE_SCHUR',        'EIGEN_SPARSE',     'CLUSTER_JACOBI'),
   ('ITERATIVE_SCHUR',        'CX_SPARSE',        'CLUSTER_JACOBI'),
   ('ITERATIVE_SCHUR',        'ACCELERATE_SPARSE','CLUSTER_JACOBI'),
   ('ITERATIVE_SCHUR',        'SUITE_SPARSE',     'CLUSTER_TRIDIAGONAL'),
   ('ITERATIVE_SCHUR',        'EIGEN_SPARSE',     'CLUSTER_TRIDIAGONAL'),
   ('ITERATIVE_SCHUR',        'CX_SPARSE',        'CLUSTER_TRIDIAGONAL'),
   ('ITERATIVE_SCHUR',        'ACCELERATE_SPARSE','CLUSTER_TRIDIAGONAL'),
   ('SPARSE_NORMAL_CHOLESKY', 'SUITE_SPARSE',     'IDENTITY'),
   ('SPARSE_NORMAL_CHOLESKY', 'EIGEN_SPARSE',     'IDENTITY'),
   ('SPARSE_NORMAL_CHOLESKY', 'CX_SPARSE',        'IDENTITY'),
   ('SPARSE_NORMAL_CHOLESKY', 'ACCELERATE_SPARSE','IDENTITY'),
   ('SPARSE_SCHUR',           'SUITE_SPARSE',     'IDENTITY'),
   ('SPARSE_SCHUR',           'EIGEN_SPARSE',     'IDENTITY'),
   ('SPARSE_SCHUR',           'CX_SPARSE',        'IDENTITY'),
   ('SPARSE_SCHUR',           'ACCELERATE_SPARSE','IDENTITY'),
 ]

 FILENAME_SHORTENING_MAP = dict(
   DENSE_SCHUR='denseschur',
   ITERATIVE_SCHUR='iterschur',
   SPARSE_NORMAL_CHOLESKY='sparsecholesky',
   SPARSE_SCHUR='sparseschur',
   NO_SPARSE='',  # Omit sparse reference entirely for dense tests.
   SUITE_SPARSE='suitesparse',
   EIGEN_SPARSE='eigensparse',
   CX_SPARSE='cxsparse',
   ACCELERATE_SPARSE='acceleratesparse',
   IDENTITY='identity',
   JACOBI='jacobi',
   SCHUR_JACOBI='schurjacobi',
   CLUSTER_JACOBI='clustjacobi',
   CLUSTER_TRIDIAGONAL='clusttri',
   kAutomaticOrdering='auto',
   kUserOrdering='user',
 )

 COPYRIGHT_HEADER = (
 """// Ceres Solver - A fast non-linear least squares minimizer
 // Copyright 2018 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.
 //
 // ========================================
 // 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_bundle_adjustment_tests.py.""")

 BUNDLE_ADJUSTMENT_TEST_TEMPLATE = (COPYRIGHT_HEADER + """

 #include "bundle_adjustment_test_util.h"
 %(preprocessor_conditions_begin)s
 namespace ceres {
 namespace internal {

 TEST_F(BundleAdjustmentTest,
        %(test_class_name)s) {  // NOLINT
    BundleAdjustmentProblem bundle_adjustment_problem;
    Solver::Options* options =
      bundle_adjustment_problem.mutable_solver_options();
    options->num_threads = %(num_threads)s;
    options->linear_solver_type = %(linear_solver)s;
    options->sparse_linear_algebra_library_type = %(sparse_backend)s;
    options->preconditioner_type = %(preconditioner)s;
    if (%(ordering)s) {
      options->linear_solver_ordering.reset();
    }
    Problem* problem = bundle_adjustment_problem.mutable_problem();
    RunSolverForConfigAndExpectResidualsMatch(*options, problem);
 }

 }  // namespace internal
 }  // namespace ceres
 %(preprocessor_conditions_end)s
 """)

 def camelcasify(token):
   """Convert capitalized underscore tokens to camel case"""
   return ''.join([x.lower().capitalize() for x in token.split('_')])


 def generate_bundle_test(linear_solver,
                          sparse_backend,
                          preconditioner,
                          ordering,
                          thread_config):
   """Generate a bundle adjustment test executable configured appropriately"""

   # Preconditioner only makes sense for iterative schur; drop it otherwise.
   preconditioner_tag = preconditioner
   if linear_solver != 'ITERATIVE_SCHUR':
     preconditioner_tag = ''

   # Omit references to the sparse backend when one is not in use.
   sparse_backend_tag = sparse_backend
   if sparse_backend == 'NO_SPARSE':
     sparse_backend_tag = ''

   # Use a double underscore; otherwise the names are harder to understand.
   test_class_name = '_'.join(filter(lambda x: x, [
       camelcasify(linear_solver),
       camelcasify(sparse_backend_tag),
       camelcasify(preconditioner_tag),
       ordering[1:],  # Strip 'k'
       'Threads' if thread_config == MULTI_THREADED else '']))

   # Initial template parameters (augmented more below).
   template_parameters = dict(
           linear_solver=linear_solver,
           sparse_backend=sparse_backend,
           preconditioner=preconditioner,
           ordering=ordering,
           num_threads=thread_config,
           test_class_name=test_class_name)

   # Accumulate appropriate #ifdef/#ifndefs for the solver's sparse backend.
   preprocessor_conditions_begin = []
   preprocessor_conditions_end = []
   if sparse_backend == 'SUITE_SPARSE':
     preprocessor_conditions_begin.append('#ifndef CERES_NO_SUITESPARSE')
     preprocessor_conditions_end.insert(0, '#endif  // CERES_NO_SUITESPARSE')
   elif sparse_backend == 'CX_SPARSE':
     preprocessor_conditions_begin.append('#ifndef CERES_NO_CXSPARSE')
     preprocessor_conditions_end.insert(0, '#endif  // CERES_NO_CXSPARSE')
   elif sparse_backend == 'ACCELERATE_SPARSE':
     preprocessor_conditions_begin.append('#ifndef CERES_NO_ACCELERATE_SPARSE')
     preprocessor_conditions_end.insert(0, '#endif  // CERES_NO_ACCELERATE_SPARSE')
   elif sparse_backend == 'EIGEN_SPARSE':
     preprocessor_conditions_begin.append('#ifdef CERES_USE_EIGEN_SPARSE')
     preprocessor_conditions_end.insert(0, '#endif  // CERES_USE_EIGEN_SPARSE')

   # Accumulate appropriate #ifdef/#ifndefs for threading conditions.
   if thread_config == MULTI_THREADED:
     preprocessor_conditions_begin.append('#ifndef CERES_NO_THREADS')
     preprocessor_conditions_end.insert(0, '#endif  // CERES_NO_THREADS')

   # If there are #ifdefs, put newlines around them.
   if preprocessor_conditions_begin:
     preprocessor_conditions_begin.insert(0, '')
     preprocessor_conditions_begin.append('')
     preprocessor_conditions_end.insert(0, '')
     preprocessor_conditions_end.append('')

   # Put #ifdef/#ifndef stacks into the template parameters.
   template_parameters['preprocessor_conditions_begin'] = '\n'.join(
       preprocessor_conditions_begin)
   template_parameters['preprocessor_conditions_end'] = '\n'.join(
       preprocessor_conditions_end)

   # Substitute variables into the test template, and write the result to a file.
   filename_tag = '_'.join(FILENAME_SHORTENING_MAP.get(x) for x in [
       linear_solver,
       sparse_backend_tag,
       preconditioner_tag,
       ordering]
       if FILENAME_SHORTENING_MAP.get(x))
   if (thread_config == MULTI_THREADED):
     filename_tag += '_threads'

   filename = ('generated_bundle_adjustment_tests/ba_%s_test.cc' %
                 filename_tag.lower())
   with open(filename, 'w') as fd:
     fd.write(BUNDLE_ADJUSTMENT_TEST_TEMPLATE % template_parameters)

   # All done.
   print 'Generated', filename

   return filename


 if __name__ == '__main__':
   # Iterate over all the possible configurations and generate the tests.
   generated_files = []
   for linear_solver, sparse_backend, preconditioner in SOLVER_CONFIGS:
     for ordering in ORDERINGS:
       for thread_config in THREAD_CONFIGS:
         generated_files.append(
             generate_bundle_test(linear_solver,
                                  sparse_backend,
                                  preconditioner,
                                  ordering,
                                  thread_config))

   # Generate the CMakeLists.txt as well.
   with open('generated_bundle_adjustment_tests/CMakeLists.txt', 'w') as fd:
     fd.write(COPYRIGHT_HEADER.replace('//', '#').replace('http:#', 'http://'))
     fd.write('\n')
     fd.write('\n')
     for generated_file in generated_files:
       fd.write('ceres_test(%s)\n' %
                generated_file.split('/')[1].replace('_test.cc', ''))
	# Ceres Solver - A fast non-linear least squares minimizer
	# Copyright 2018 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: keir@google.com (Keir Mierle)
	#
	# Generate bundle adjustment tests as separate binaries. Since the bundle
	# adjustment tests are fairly processing intensive, serializing them makes the
	# tests take forever to run. Splitting them into separate binaries makes it
	# easier to parallelize in continuous integration systems, and makes local
	# processing on multi-core workstations much faster.

	# Product of ORDERINGS, THREAD_CONFIGS, and SOLVER_CONFIGS is the full set of
	# tests to generate.
	ORDERINGS = ["kAutomaticOrdering", "kUserOrdering"]
	SINGLE_THREADED = "1"
	MULTI_THREADED = "4"
	THREAD_CONFIGS = [SINGLE_THREADED, MULTI_THREADED]

	SOLVER_CONFIGS = [
	# Linear solver Sparse backend Preconditioner
	('DENSE_SCHUR', 'NO_SPARSE', 'IDENTITY'),
	('ITERATIVE_SCHUR', 'NO_SPARSE', 'JACOBI'),
	('ITERATIVE_SCHUR', 'NO_SPARSE', 'SCHUR_JACOBI'),
	('ITERATIVE_SCHUR', 'SUITE_SPARSE', 'CLUSTER_JACOBI'),
	('ITERATIVE_SCHUR', 'EIGEN_SPARSE', 'CLUSTER_JACOBI'),
	('ITERATIVE_SCHUR', 'CX_SPARSE', 'CLUSTER_JACOBI'),
	('ITERATIVE_SCHUR', 'ACCELERATE_SPARSE','CLUSTER_JACOBI'),
	('ITERATIVE_SCHUR', 'SUITE_SPARSE', 'CLUSTER_TRIDIAGONAL'),
	('ITERATIVE_SCHUR', 'EIGEN_SPARSE', 'CLUSTER_TRIDIAGONAL'),
	('ITERATIVE_SCHUR', 'CX_SPARSE', 'CLUSTER_TRIDIAGONAL'),
	('ITERATIVE_SCHUR', 'ACCELERATE_SPARSE','CLUSTER_TRIDIAGONAL'),
	('SPARSE_NORMAL_CHOLESKY', 'SUITE_SPARSE', 'IDENTITY'),
	('SPARSE_NORMAL_CHOLESKY', 'EIGEN_SPARSE', 'IDENTITY'),
	('SPARSE_NORMAL_CHOLESKY', 'CX_SPARSE', 'IDENTITY'),
	('SPARSE_NORMAL_CHOLESKY', 'ACCELERATE_SPARSE','IDENTITY'),
	('SPARSE_SCHUR', 'SUITE_SPARSE', 'IDENTITY'),
	('SPARSE_SCHUR', 'EIGEN_SPARSE', 'IDENTITY'),
	('SPARSE_SCHUR', 'CX_SPARSE', 'IDENTITY'),
	('SPARSE_SCHUR', 'ACCELERATE_SPARSE','IDENTITY'),
	]

	FILENAME_SHORTENING_MAP = dict(
	DENSE_SCHUR='denseschur',
	ITERATIVE_SCHUR='iterschur',
	SPARSE_NORMAL_CHOLESKY='sparsecholesky',
	SPARSE_SCHUR='sparseschur',
	NO_SPARSE='', # Omit sparse reference entirely for dense tests.
	SUITE_SPARSE='suitesparse',
	EIGEN_SPARSE='eigensparse',
	CX_SPARSE='cxsparse',
	ACCELERATE_SPARSE='acceleratesparse',
	IDENTITY='identity',
	JACOBI='jacobi',
	SCHUR_JACOBI='schurjacobi',
	CLUSTER_JACOBI='clustjacobi',
	CLUSTER_TRIDIAGONAL='clusttri',
	kAutomaticOrdering='auto',
	kUserOrdering='user',
	)

	COPYRIGHT_HEADER = (
	"""// Ceres Solver - A fast non-linear least squares minimizer
	// Copyright 2018 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.
	//
	// ========================================
	// 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_bundle_adjustment_tests.py.""")

	BUNDLE_ADJUSTMENT_TEST_TEMPLATE = (COPYRIGHT_HEADER + """

	#include "bundle_adjustment_test_util.h"
	%(preprocessor_conditions_begin)s
	namespace ceres {
	namespace internal {

	TEST_F(BundleAdjustmentTest,
	%(test_class_name)s) { // NOLINT
	BundleAdjustmentProblem bundle_adjustment_problem;
	Solver::Options* options =
	bundle_adjustment_problem.mutable_solver_options();
	options->num_threads = %(num_threads)s;
	options->linear_solver_type = %(linear_solver)s;
	options->sparse_linear_algebra_library_type = %(sparse_backend)s;
	options->preconditioner_type = %(preconditioner)s;
	if (%(ordering)s) {
	options->linear_solver_ordering.reset();
	}
	Problem* problem = bundle_adjustment_problem.mutable_problem();
	RunSolverForConfigAndExpectResidualsMatch(*options, problem);
	}

	} // namespace internal
	} // namespace ceres
	%(preprocessor_conditions_end)s
	""")

	def camelcasify(token):
	"""Convert capitalized underscore tokens to camel case"""
	return ''.join([x.lower().capitalize() for x in token.split('_')])


	def generate_bundle_test(linear_solver,
	sparse_backend,
	preconditioner,
	ordering,
	thread_config):
	"""Generate a bundle adjustment test executable configured appropriately"""

	# Preconditioner only makes sense for iterative schur; drop it otherwise.
	preconditioner_tag = preconditioner
	if linear_solver != 'ITERATIVE_SCHUR':
	preconditioner_tag = ''

	# Omit references to the sparse backend when one is not in use.
	sparse_backend_tag = sparse_backend
	if sparse_backend == 'NO_SPARSE':
	sparse_backend_tag = ''

	# Use a double underscore; otherwise the names are harder to understand.
	test_class_name = '_'.join(filter(lambda x: x, [
	camelcasify(linear_solver),
	camelcasify(sparse_backend_tag),
	camelcasify(preconditioner_tag),
	ordering[1:], # Strip 'k'
	'Threads' if thread_config == MULTI_THREADED else '']))

	# Initial template parameters (augmented more below).
	template_parameters = dict(
	linear_solver=linear_solver,
	sparse_backend=sparse_backend,
	preconditioner=preconditioner,
	ordering=ordering,
	num_threads=thread_config,
	test_class_name=test_class_name)

	# Accumulate appropriate #ifdef/#ifndefs for the solver's sparse backend.
	preprocessor_conditions_begin = []
	preprocessor_conditions_end = []
	if sparse_backend == 'SUITE_SPARSE':
	preprocessor_conditions_begin.append('#ifndef CERES_NO_SUITESPARSE')
	preprocessor_conditions_end.insert(0, '#endif // CERES_NO_SUITESPARSE')
	elif sparse_backend == 'CX_SPARSE':
	preprocessor_conditions_begin.append('#ifndef CERES_NO_CXSPARSE')
	preprocessor_conditions_end.insert(0, '#endif // CERES_NO_CXSPARSE')
	elif sparse_backend == 'ACCELERATE_SPARSE':
	preprocessor_conditions_begin.append('#ifndef CERES_NO_ACCELERATE_SPARSE')
	preprocessor_conditions_end.insert(0, '#endif // CERES_NO_ACCELERATE_SPARSE')
	elif sparse_backend == 'EIGEN_SPARSE':
	preprocessor_conditions_begin.append('#ifdef CERES_USE_EIGEN_SPARSE')
	preprocessor_conditions_end.insert(0, '#endif // CERES_USE_EIGEN_SPARSE')

	# Accumulate appropriate #ifdef/#ifndefs for threading conditions.
	if thread_config == MULTI_THREADED:
	preprocessor_conditions_begin.append('#ifndef CERES_NO_THREADS')
	preprocessor_conditions_end.insert(0, '#endif // CERES_NO_THREADS')

	# If there are #ifdefs, put newlines around them.
	if preprocessor_conditions_begin:
	preprocessor_conditions_begin.insert(0, '')
	preprocessor_conditions_begin.append('')
	preprocessor_conditions_end.insert(0, '')
	preprocessor_conditions_end.append('')

	# Put #ifdef/#ifndef stacks into the template parameters.
	template_parameters['preprocessor_conditions_begin'] = '\n'.join(
	preprocessor_conditions_begin)
	template_parameters['preprocessor_conditions_end'] = '\n'.join(
	preprocessor_conditions_end)

	# Substitute variables into the test template, and write the result to a file.
	filename_tag = '_'.join(FILENAME_SHORTENING_MAP.get(x) for x in [
	linear_solver,
	sparse_backend_tag,
	preconditioner_tag,
	ordering]
	if FILENAME_SHORTENING_MAP.get(x))
	if (thread_config == MULTI_THREADED):
	filename_tag += '_threads'

	filename = ('generated_bundle_adjustment_tests/ba_%s_test.cc' %
	filename_tag.lower())
	with open(filename, 'w') as fd:
	fd.write(BUNDLE_ADJUSTMENT_TEST_TEMPLATE % template_parameters)

	# All done.
	print 'Generated', filename

	return filename


	if __name__ == '__main__':
	# Iterate over all the possible configurations and generate the tests.
	generated_files = []
	for linear_solver, sparse_backend, preconditioner in SOLVER_CONFIGS:
	for ordering in ORDERINGS:
	for thread_config in THREAD_CONFIGS:
	generated_files.append(
	generate_bundle_test(linear_solver,
	sparse_backend,
	preconditioner,
	ordering,
	thread_config))

	# Generate the CMakeLists.txt as well.
	with open('generated_bundle_adjustment_tests/CMakeLists.txt', 'w') as fd:
	fd.write(COPYRIGHT_HEADER.replace('//', '#').replace('http:#', 'http://'))
	fd.write('\n')
	fd.write('\n')
	for generated_file in generated_files:
	fd.write('ceres_test(%s)\n' %
	generated_file.split('/')[1].replace('_test.cc', ''))