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# 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()
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