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

 # 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 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, "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, 8),
                    (2, 4, 9),
                    (2, 4, "Eigen::Dynamic"),
                    (2, "Eigen::Dynamic", "Eigen::Dynamic"),
                    (4, 4, 2),
                    (4, 4, 3),
                    (4, 4, 4),
                    (4, 4, "Eigen::Dynamic"),
                    ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic")]
 HEADER = """// 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)
 //
 // 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_specialization.py.
 // Editing it manually is not recommended.
 """

 DYNAMIC_FILE = """

 #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
 """

 SPECIALIZATION_FILE = """
 // This include must come before any #ifndef check on Ceres compile options.
 #include "ceres/internal/port.h"

 #ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION

 #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

 #endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
 """

 FACTORY_FILE_HEADER = """
 #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<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
 }

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


 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] + 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(HEADER)
   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(HEADER)

     template = SPECIALIZATION_FILE
     if (row_block_size == "Eigen::Dynamic" and
         e_block_size == "Eigen::Dynamic" and
         f_block_size == "Eigen::Dynamic"):
       template = DYNAMIC_FILE

     fptr.write(template % (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()
	# 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 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, "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, 8),
	(2, 4, 9),
	(2, 4, "Eigen::Dynamic"),
	(2, "Eigen::Dynamic", "Eigen::Dynamic"),
	(4, 4, 2),
	(4, 4, 3),
	(4, 4, 4),
	(4, 4, "Eigen::Dynamic"),
	("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic")]
	HEADER = """// 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)
	//
	// 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_specialization.py.
	// Editing it manually is not recommended.
	"""

	DYNAMIC_FILE = """

	#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
	"""

	SPECIALIZATION_FILE = """
	// This include must come before any #ifndef check on Ceres compile options.
	#include "ceres/internal/port.h"

	#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION

	#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

	#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
	"""

	FACTORY_FILE_HEADER = """
	#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<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
	}

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


	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] + 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(HEADER)
	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(HEADER)

	template = SPECIALIZATION_FILE
	if (row_block_size == "Eigen::Dynamic" and
	e_block_size == "Eigen::Dynamic" and
	f_block_size == "Eigen::Dynamic"):
	template = DYNAMIC_FILE

	fptr.write(template % (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()