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Diffstat (limited to 'extern/ceres/internal/ceres/generate_eliminator_specialization.py')
-rw-r--r-- | extern/ceres/internal/ceres/generate_eliminator_specialization.py | 231 |
1 files changed, 231 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/generate_eliminator_specialization.py b/extern/ceres/internal/ceres/generate_eliminator_specialization.py new file mode 100644 index 00000000000..e89e7a48c98 --- /dev/null +++ b/extern/ceres/internal/ceres/generate_eliminator_specialization.py @@ -0,0 +1,231 @@ +# 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() |