mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Darius Rueckert
5be2e48835
Add the class CodeGenerator, which is able to convert objects of ExpressionGraph into strings. Change-Id: Iff94fdbd3f2e055a78871b1a9947f1ca5ae3cd17
466 lines
19 KiB
C++
466 lines
19 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2019 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: darius.rueckert@fau.de (Darius Rueckert)
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//
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#define CERES_CODEGEN
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#include "ceres/internal/code_generator.h"
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#include "ceres/internal/expression_graph.h"
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#include "ceres/internal/expression_ref.h"
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#include "gtest/gtest.h"
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namespace ceres {
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namespace internal {
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static void GenerateAndCheck(const ExpressionGraph& graph,
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const std::vector<std::string>& reference) {
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CodeGenerator::Options generator_options;
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CodeGenerator gen(graph, generator_options);
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auto code = gen.Generate();
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EXPECT_EQ(code.size(), reference.size());
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for (int i = 0; i < code.size(); ++i) {
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EXPECT_EQ(code[i], reference[i]) << "Invalid Line: " << (i + 1);
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}
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}
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using T = ExpressionRef;
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TEST(CodeGenerator, Empty) {
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StartRecordingExpressions();
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auto graph = StopRecordingExpressions();
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std::vector<std::string> expected_code = {"{", "}"};
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GenerateAndCheck(graph, expected_code);
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}
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// Now we add one TEST for each ExpressionType.
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TEST(CodeGenerator, COMPILE_TIME_CONSTANT) {
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StartRecordingExpressions();
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T a = T(0);
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T b = T(123.5);
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T c = T(1 + 1);
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T d; // Uninitialized variables should not generate code!
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auto graph = StopRecordingExpressions();
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std::vector<std::string> expected_code = {"{",
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" double v_0;",
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" double v_1;",
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" double v_2;",
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" v_0 = 0;",
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" v_1 = 123.5;",
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" v_2 = 2;",
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"}"};
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GenerateAndCheck(graph, expected_code);
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}
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TEST(CodeGenerator, INPUT_ASSIGNMENT) {
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double local_variable = 5.0;
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StartRecordingExpressions();
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T a = CERES_LOCAL_VARIABLE(local_variable);
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T b = MakeParameter("parameters[0][0]");
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T c = a + b;
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auto graph = StopRecordingExpressions();
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std::vector<std::string> expected_code = {"{",
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" double v_0;",
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" double v_1;",
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" double v_2;",
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" v_0 = local_variable;",
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" v_1 = parameters[0][0];",
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" v_2 = v_0 + v_1;",
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"}"};
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GenerateAndCheck(graph, expected_code);
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}
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TEST(CodeGenerator, OUTPUT_ASSIGNMENT) {
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double local_variable = 5.0;
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StartRecordingExpressions();
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T a = 1;
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T b = 0;
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MakeOutput(a, "residual[0]");
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auto graph = StopRecordingExpressions();
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std::vector<std::string> expected_code = {"{",
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" double v_0;",
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" double v_1;",
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" double v_2;",
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" v_0 = 1;",
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" v_1 = 0;",
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" residual[0] = v_0;",
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"}"};
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GenerateAndCheck(graph, expected_code);
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}
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TEST(CodeGenerator, ASSIGNMENT) {
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StartRecordingExpressions();
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T a = T(0);
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T b = T(1);
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T c = a; // < This should not generate a line!
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a = b;
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a = a + b; // < Create temporary + assignment
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auto graph = StopRecordingExpressions();
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std::vector<std::string> expected_code = {"{",
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" double v_0;",
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" double v_1;",
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" double v_3;",
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" v_0 = 0;",
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" v_1 = 1;",
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" v_0 = v_1;",
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" v_3 = v_0 + v_1;",
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" v_0 = v_3;",
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"}"};
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GenerateAndCheck(graph, expected_code);
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}
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TEST(CodeGenerator, BINARY_ARITHMETIC_SIMPLE) {
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StartRecordingExpressions();
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T a = T(0);
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T b = T(1);
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T r1 = a + b;
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T r2 = a - b;
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T r3 = a * b;
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T r4 = a / b;
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auto graph = StopRecordingExpressions();
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std::vector<std::string> expected_code = {"{",
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" double v_0;",
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" double v_1;",
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" double v_2;",
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" double v_3;",
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" double v_4;",
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" double v_5;",
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" v_0 = 0;",
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" v_1 = 1;",
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" v_2 = v_0 + v_1;",
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" v_3 = v_0 - v_1;",
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" v_4 = v_0 * v_1;",
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" v_5 = v_0 / v_1;",
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"}"};
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GenerateAndCheck(graph, expected_code);
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}
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TEST(CodeGenerator, BINARY_ARITHMETIC_COMPOUND) {
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// For each binary compound arithmetic operation, two lines are generated:
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// - The actual operation assigning to a new temporary variable
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// - An assignment from the temporary to the lhs
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StartRecordingExpressions();
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T a = T(0);
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T b = T(1);
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b += a;
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b -= a;
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b *= a;
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b /= a;
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auto graph = StopRecordingExpressions();
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std::vector<std::string> expected_code = {"{",
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" double v_0;",
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" double v_1;",
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" double v_2;",
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" double v_4;",
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" double v_6;",
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" double v_8;",
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" v_0 = 0;",
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" v_1 = 1;",
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" v_2 = v_1 + v_0;",
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" v_1 = v_2;",
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" v_4 = v_1 - v_0;",
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" v_1 = v_4;",
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" v_6 = v_1 * v_0;",
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" v_1 = v_6;",
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" v_8 = v_1 / v_0;",
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" v_1 = v_8;",
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"}"};
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GenerateAndCheck(graph, expected_code);
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}
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TEST(CodeGenerator, UNARY_ARITHMETIC) {
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StartRecordingExpressions();
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T a = T(0);
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T r1 = -a;
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T r2 = +a;
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auto graph = StopRecordingExpressions();
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std::vector<std::string> expected_code = {"{",
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" double v_0;",
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" double v_1;",
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" double v_2;",
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" v_0 = 0;",
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" v_1 = -v_0;",
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" v_2 = +v_0;",
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"}"};
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GenerateAndCheck(graph, expected_code);
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}
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TEST(CodeGenerator, BINARY_COMPARISON) {
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StartRecordingExpressions();
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T a = T(0);
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T b = T(1);
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auto r1 = a < b;
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auto r2 = a <= b;
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auto r3 = a > b;
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auto r4 = a >= b;
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auto r5 = a == b;
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auto r6 = a != b;
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auto graph = StopRecordingExpressions();
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std::vector<std::string> expected_code = {"{",
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" double v_0;",
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" double v_1;",
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" bool v_2;",
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" bool v_3;",
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" bool v_4;",
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" bool v_5;",
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" bool v_6;",
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" bool v_7;",
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" v_0 = 0;",
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" v_1 = 1;",
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" v_2 = v_0 < v_1;",
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" v_3 = v_0 <= v_1;",
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" v_4 = v_0 > v_1;",
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" v_5 = v_0 >= v_1;",
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" v_6 = v_0 == v_1;",
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" v_7 = v_0 != v_1;",
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"}"};
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GenerateAndCheck(graph, expected_code);
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}
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TEST(CodeGenerator, LOGICAL_OPERATORS) {
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// Tests binary logical operators &&, || and the unary logical operator !
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StartRecordingExpressions();
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T a = T(0);
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T b = T(1);
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auto r1 = a < b;
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auto r2 = a <= b;
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auto r3 = r1 && r2;
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auto r4 = r1 || r2;
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auto r5 = !r1;
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auto graph = StopRecordingExpressions();
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std::vector<std::string> expected_code = {"{",
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" double v_0;",
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" double v_1;",
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" bool v_2;",
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" bool v_3;",
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" bool v_4;",
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" bool v_5;",
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" bool v_6;",
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" v_0 = 0;",
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" v_1 = 1;",
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" v_2 = v_0 < v_1;",
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" v_3 = v_0 <= v_1;",
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" v_4 = v_2 && v_3;",
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" v_5 = v_2 || v_3;",
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" v_6 = !v_2;",
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"}"};
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GenerateAndCheck(graph, expected_code);
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}
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TEST(CodeGenerator, FUNCTION_CALL) {
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StartRecordingExpressions();
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T a = T(0);
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T b = T(1);
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abs(a);
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acos(a);
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asin(a);
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atan(a);
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cbrt(a);
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ceil(a);
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cos(a);
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cosh(a);
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exp(a);
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exp2(a);
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floor(a);
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log(a);
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log2(a);
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sin(a);
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sinh(a);
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sqrt(a);
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tan(a);
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tanh(a);
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atan2(a, b);
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pow(a, b);
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auto graph = StopRecordingExpressions();
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std::vector<std::string> expected_code = {"{",
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" double v_0;",
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" double v_1;",
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" double v_2;",
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" double v_3;",
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" double v_4;",
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" double v_5;",
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" double v_6;",
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" double v_7;",
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" double v_8;",
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" double v_9;",
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" double v_10;",
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" double v_11;",
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" double v_12;",
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" double v_13;",
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" double v_14;",
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" double v_15;",
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" double v_16;",
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" double v_17;",
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" double v_18;",
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" double v_19;",
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" double v_20;",
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" double v_21;",
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" v_0 = 0;",
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" v_1 = 1;",
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" v_2 = abs(v_0);",
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" v_3 = acos(v_0);",
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" v_4 = asin(v_0);",
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" v_5 = atan(v_0);",
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" v_6 = cbrt(v_0);",
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" v_7 = ceil(v_0);",
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" v_8 = cos(v_0);",
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" v_9 = cosh(v_0);",
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" v_10 = exp(v_0);",
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" v_11 = exp2(v_0);",
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" v_12 = floor(v_0);",
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" v_13 = log(v_0);",
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" v_14 = log2(v_0);",
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" v_15 = sin(v_0);",
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" v_16 = sinh(v_0);",
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" v_17 = sqrt(v_0);",
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" v_18 = tan(v_0);",
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" v_19 = tanh(v_0);",
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" v_20 = atan2(v_0, v_1);",
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" v_21 = pow(v_0, v_1);",
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"}"};
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GenerateAndCheck(graph, expected_code);
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}
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TEST(CodeGenerator, IF_SIMPLE) {
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StartRecordingExpressions();
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T a = T(0);
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T b = T(1);
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auto r1 = a < b;
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CERES_IF(r1) {}
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CERES_ELSE {}
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CERES_ENDIF;
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auto graph = StopRecordingExpressions();
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std::vector<std::string> expected_code = {"{",
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" double v_0;",
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" double v_1;",
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" bool v_2;",
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" v_0 = 0;",
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" v_1 = 1;",
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" v_2 = v_0 < v_1;",
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" if (v_2) {",
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" } else {",
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" }",
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"}"};
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GenerateAndCheck(graph, expected_code);
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}
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TEST(CodeGenerator, IF_ASSIGNMENT) {
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StartRecordingExpressions();
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T a = T(0);
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T b = T(1);
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auto r1 = a < b;
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T result = 0;
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CERES_IF(r1) { result = 5.0; }
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CERES_ELSE { result = 6.0; }
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CERES_ENDIF;
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MakeOutput(result, "result");
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auto graph = StopRecordingExpressions();
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std::vector<std::string> expected_code = {"{",
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" double v_0;",
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" double v_1;",
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" bool v_2;",
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" double v_3;",
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" double v_5;",
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" double v_8;",
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" double v_11;",
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" v_0 = 0;",
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" v_1 = 1;",
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" v_2 = v_0 < v_1;",
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" v_3 = 0;",
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" if (v_2) {",
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" v_5 = 5;",
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" v_3 = v_5;",
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" } else {",
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" v_8 = 6;",
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" v_3 = v_8;",
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" }",
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" result = v_3;",
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"}"};
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GenerateAndCheck(graph, expected_code);
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}
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TEST(CodeGenerator, IF_NESTED_ASSIGNMENT) {
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StartRecordingExpressions();
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T a = T(0);
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T b = T(1);
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T result = 0;
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CERES_IF(a <= b) {
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result = 5.0;
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CERES_IF(a == b) { result = 7.0; }
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CERES_ENDIF;
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}
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CERES_ELSE { result = 6.0; }
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CERES_ENDIF;
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MakeOutput(result, "result");
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auto graph = StopRecordingExpressions();
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std::vector<std::string> expected_code = {"{",
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" double v_0;",
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" double v_1;",
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" double v_2;",
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" bool v_3;",
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" double v_5;",
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" bool v_7;",
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" double v_9;",
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" double v_13;",
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" double v_16;",
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" v_0 = 0;",
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" v_1 = 1;",
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" v_2 = 0;",
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" v_3 = v_0 <= v_1;",
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" if (v_3) {",
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" v_5 = 5;",
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" v_2 = v_5;",
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" v_7 = v_0 == v_1;",
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" if (v_7) {",
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" v_9 = 7;",
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" v_2 = v_9;",
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" }",
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" } else {",
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" v_13 = 6;",
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" v_2 = v_13;",
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" }",
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" result = v_2;",
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"}"};
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GenerateAndCheck(graph, expected_code);
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}
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} // namespace internal
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} // namespace ceres
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