mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Keir Mierle
7492b0d8de
Since Ceres is moving to using GitHub for issues, and the Google Code URL in the current copyright header will soon become invalid, update all the headers. Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
232 lines
8.2 KiB
Python
232 lines
8.2 KiB
Python
# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2015 Google Inc. All rights reserved.
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# http://ceres-solver.org/
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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: sameeragarwal@google.com (Sameer Agarwal)
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#
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# Script for explicitly generating template specialization of the
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# SchurEliminator class. It is a rather large class
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# and the number of explicit instantiations is also large. Explicitly
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# generating these instantiations in separate .cc files breaks the
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# compilation into separate compilation unit rather than one large cc
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# file which takes 2+GB of RAM to compile.
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#
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# This script creates two sets of files.
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#
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# 1. schur_eliminator_x_x_x.cc
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# where, the x indicates the template parameters and
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#
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# 2. schur_eliminator.cc
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#
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# that contains a factory function for instantiating these classes
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# based on runtime parameters.
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#
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# The list of tuples, specializations indicates the set of
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# specializations that is generated.
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# Set of template specializations to generate
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SPECIALIZATIONS = [(2, 2, 2),
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(2, 2, 3),
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(2, 2, 4),
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(2, 2, "Eigen::Dynamic"),
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(2, 3, 3),
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(2, 3, 4),
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(2, 3, 6),
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(2, 3, 9),
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(2, 3, "Eigen::Dynamic"),
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(2, 4, 3),
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(2, 4, 4),
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(2, 4, 8),
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(2, 4, 9),
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(2, 4, "Eigen::Dynamic"),
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(2, "Eigen::Dynamic", "Eigen::Dynamic"),
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(4, 4, 2),
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(4, 4, 3),
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(4, 4, 4),
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(4, 4, "Eigen::Dynamic"),
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("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic")]
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HEADER = """// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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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: sameeragarwal@google.com (Sameer Agarwal)
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//
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// Template specialization of SchurEliminator.
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//
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// ========================================
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// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
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// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
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// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
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// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
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//=========================================
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//
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// This file is generated using generate_eliminator_specialization.py.
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// Editing it manually is not recommended.
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"""
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DYNAMIC_FILE = """
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#include "ceres/schur_eliminator_impl.h"
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#include "ceres/internal/eigen.h"
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namespace ceres {
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namespace internal {
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template class SchurEliminator<%s, %s, %s>;
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} // namespace internal
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} // namespace ceres
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"""
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SPECIALIZATION_FILE = """
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// This include must come before any #ifndef check on Ceres compile options.
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#include "ceres/internal/port.h"
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#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
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#include "ceres/schur_eliminator_impl.h"
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#include "ceres/internal/eigen.h"
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namespace ceres {
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namespace internal {
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template class SchurEliminator<%s, %s, %s>;
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} // namespace internal
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} // namespace ceres
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#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
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"""
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FACTORY_FILE_HEADER = """
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#include "ceres/linear_solver.h"
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#include "ceres/schur_eliminator.h"
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#include "ceres/internal/eigen.h"
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namespace ceres {
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namespace internal {
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SchurEliminatorBase*
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SchurEliminatorBase::Create(const LinearSolver::Options& options) {
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#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
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"""
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FACTORY_CONDITIONAL = """ if ((options.row_block_size == %s) &&
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(options.e_block_size == %s) &&
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(options.f_block_size == %s)) {
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return new SchurEliminator<%s, %s, %s>(options);
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}
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"""
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FACTORY_FOOTER = """
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#endif
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VLOG(1) << "Template specializations not found for <"
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<< options.row_block_size << ","
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<< options.e_block_size << ","
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<< options.f_block_size << ">";
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return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
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}
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} // namespace internal
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} // namespace ceres
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"""
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def SuffixForSize(size):
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if size == "Eigen::Dynamic":
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return "d"
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return str(size)
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def SpecializationFilename(prefix, row_block_size, e_block_size, f_block_size):
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return "_".join([prefix] + map(SuffixForSize, (row_block_size,
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e_block_size,
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f_block_size)))
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def Specialize():
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"""
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Generate specialization code and the conditionals to instantiate it.
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"""
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f = open("schur_eliminator.cc", "w")
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f.write(HEADER)
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f.write(FACTORY_FILE_HEADER)
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for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
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output = SpecializationFilename("generated/schur_eliminator",
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row_block_size,
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e_block_size,
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f_block_size) + ".cc"
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fptr = open(output, "w")
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fptr.write(HEADER)
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template = SPECIALIZATION_FILE
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if (row_block_size == "Eigen::Dynamic" and
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e_block_size == "Eigen::Dynamic" and
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f_block_size == "Eigen::Dynamic"):
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template = DYNAMIC_FILE
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fptr.write(template % (row_block_size, e_block_size, f_block_size))
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fptr.close()
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f.write(FACTORY_CONDITIONAL % (row_block_size,
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e_block_size,
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f_block_size,
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row_block_size,
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e_block_size,
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f_block_size))
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f.write(FACTORY_FOOTER)
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f.close()
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if __name__ == "__main__":
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Specialize()
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