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Diffstat (limited to 'extern/ceres/internal/ceres/generate_template_specializations.py')
| -rw-r--r-- | extern/ceres/internal/ceres/generate_template_specializations.py | 246 |
1 files changed, 246 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/generate_template_specializations.py b/extern/ceres/internal/ceres/generate_template_specializations.py new file mode 100644 index 00000000000..5e91f8d2b6a --- /dev/null +++ b/extern/ceres/internal/ceres/generate_template_specializations.py @@ -0,0 +1,246 @@ +# 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] + 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() |