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ceres-solver/internal/ceres/generate_bundle_adjustment_tests.py
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Sameer Agarwal 06bfe6ffac Remove OpenMP and No threading backends. 
Since c++11, we can depend on C++ threads always being available.
With the recent work on the performance of CXX threading, the
additional complexity of maintaining multiple backends for some
minor performance delta is not worth it

https://github.com/ceres-solver/ceres-solver/issues/886

Change-Id: Idee480b22a498daec9c4366da8589aa58eaf36a1
2022-11-27 21:06:33 -08:00

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# Ceres Solver - A fast non-linear least squares minimizer
# Copyright 2018 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: keir@google.com (Keir Mierle)
#
# Generate bundle adjustment tests as separate binaries. Since the bundle
# adjustment tests are fairly processing intensive, serializing them makes the
# tests take forever to run. Splitting them into separate binaries makes it
# easier to parallelize in continuous integration systems, and makes local
# processing on multi-core workstations much faster.
# Product of ORDERINGS, THREAD_CONFIGS, and SOLVER_CONFIGS is the full set of
# tests to generate.
ORDERINGS = ["kAutomaticOrdering", "kUserOrdering"]
SINGLE_THREADED = "1"
MULTI_THREADED = "4"
THREAD_CONFIGS = [SINGLE_THREADED, MULTI_THREADED]
DENSE_SOLVER_CONFIGS = [
# Linear solver Dense backend
('DENSE_SCHUR', 'EIGEN'),
('DENSE_SCHUR', 'LAPACK'),
('DENSE_SCHUR', 'CUDA'),
]
SPARSE_SOLVER_CONFIGS = [
# Linear solver Sparse backend
('SPARSE_NORMAL_CHOLESKY', 'SUITE_SPARSE'),
('SPARSE_NORMAL_CHOLESKY', 'EIGEN_SPARSE'),
('SPARSE_NORMAL_CHOLESKY', 'ACCELERATE_SPARSE'),
('SPARSE_SCHUR', 'SUITE_SPARSE'),
('SPARSE_SCHUR', 'EIGEN_SPARSE'),
('SPARSE_SCHUR', 'ACCELERATE_SPARSE'),
]
ITERATIVE_SOLVER_CONFIGS = [
# Linear solver Sparse backend Preconditioner
('ITERATIVE_SCHUR', 'NO_SPARSE', 'JACOBI'),
('ITERATIVE_SCHUR', 'NO_SPARSE', 'SCHUR_JACOBI'),
('ITERATIVE_SCHUR', 'SUITE_SPARSE', 'CLUSTER_JACOBI'),
('ITERATIVE_SCHUR', 'EIGEN_SPARSE', 'CLUSTER_JACOBI'),
('ITERATIVE_SCHUR', 'ACCELERATE_SPARSE','CLUSTER_JACOBI'),
('ITERATIVE_SCHUR', 'SUITE_SPARSE', 'CLUSTER_TRIDIAGONAL'),
('ITERATIVE_SCHUR', 'EIGEN_SPARSE', 'CLUSTER_TRIDIAGONAL'),
('ITERATIVE_SCHUR', 'ACCELERATE_SPARSE','CLUSTER_TRIDIAGONAL'),
]
FILENAME_SHORTENING_MAP = dict(
DENSE_SCHUR='denseschur',
ITERATIVE_SCHUR='iterschur',
SPARSE_NORMAL_CHOLESKY='sparsecholesky',
SPARSE_SCHUR='sparseschur',
EIGEN='eigen',
LAPACK='lapack',
CUDA='cuda',
NO_SPARSE='', # Omit sparse reference entirely for dense tests.
SUITE_SPARSE='suitesparse',
EIGEN_SPARSE='eigensparse',
ACCELERATE_SPARSE='acceleratesparse',
IDENTITY='identity',
JACOBI='jacobi',
SCHUR_JACOBI='schurjacobi',
CLUSTER_JACOBI='clustjacobi',
CLUSTER_TRIDIAGONAL='clusttri',
kAutomaticOrdering='auto',
kUserOrdering='user',
)
COPYRIGHT_HEADER = (
"""// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2022 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.
//
// ========================================
// 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_bundle_adjustment_tests.py.""")
BUNDLE_ADJUSTMENT_TEST_TEMPLATE = (COPYRIGHT_HEADER + """
#include "ceres/internal/config.h"
#include "bundle_adjustment_test_util.h"
%(preprocessor_conditions_begin)s
namespace ceres::internal {
TEST_F(BundleAdjustmentTest,
%(test_class_name)s) { // NOLINT
BundleAdjustmentProblem bundle_adjustment_problem;
Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
options->num_threads = %(num_threads)s;
options->linear_solver_type = %(linear_solver)s;
options->dense_linear_algebra_library_type = %(dense_backend)s;
options->sparse_linear_algebra_library_type = %(sparse_backend)s;
options->preconditioner_type = %(preconditioner)s;
if (%(ordering)s) {
options->linear_solver_ordering = nullptr;
}
Problem* problem = bundle_adjustment_problem.mutable_problem();
RunSolverForConfigAndExpectResidualsMatch(*options, problem);
}
} // namespace ceres::internal
%(preprocessor_conditions_end)s""")
def camelcasify(token):
"""Convert capitalized underscore tokens to camel case"""
return ''.join([x.lower().capitalize() for x in token.split('_')])
def generate_bundle_test(linear_solver,
dense_backend,
sparse_backend,
preconditioner,
ordering,
thread_config):
"""Generate a bundle adjustment test executable configured appropriately"""
# Preconditioner only makes sense for iterative schur; drop it otherwise.
preconditioner_tag = preconditioner
if linear_solver != 'ITERATIVE_SCHUR':
preconditioner_tag = ''
dense_backend_tag = dense_backend
if linear_solver != 'DENSE_SCHUR':
dense_backend_tag=''
# Omit references to the sparse backend when one is not in use.
sparse_backend_tag = sparse_backend
if sparse_backend == 'NO_SPARSE':
sparse_backend_tag = ''
# Use a double underscore; otherwise the names are harder to understand.
test_class_name = '_'.join(filter(lambda x: x, [
camelcasify(linear_solver),
camelcasify(dense_backend_tag),
camelcasify(sparse_backend_tag),
camelcasify(preconditioner_tag),
ordering[1:], # Strip 'k'
'Threads' if thread_config == MULTI_THREADED else '']))
# Initial template parameters (augmented more below).
template_parameters = dict(
linear_solver=linear_solver,
dense_backend=dense_backend,
sparse_backend=sparse_backend,
preconditioner=preconditioner,
ordering=ordering,
num_threads=thread_config,
test_class_name=test_class_name)
# Accumulate appropriate #ifdef/#ifndefs for the solver's sparse backend.
preprocessor_conditions_begin = []
preprocessor_conditions_end = []
if sparse_backend == 'SUITE_SPARSE':
preprocessor_conditions_begin.append('#ifndef CERES_NO_SUITESPARSE')
preprocessor_conditions_end.insert(0, '#endif // CERES_NO_SUITESPARSE')
elif sparse_backend == 'ACCELERATE_SPARSE':
preprocessor_conditions_begin.append('#ifndef CERES_NO_ACCELERATE_SPARSE')
preprocessor_conditions_end.insert(0, '#endif // CERES_NO_ACCELERATE_SPARSE')
elif sparse_backend == 'EIGEN_SPARSE':
preprocessor_conditions_begin.append('#ifdef CERES_USE_EIGEN_SPARSE')
preprocessor_conditions_end.insert(0, '#endif // CERES_USE_EIGEN_SPARSE')
if dense_backend == "LAPACK":
preprocessor_conditions_begin.append('#ifndef CERES_NO_LAPACK')
preprocessor_conditions_end.insert(0, '#endif // CERES_NO_LAPACK')
elif dense_backend == "CUDA":
preprocessor_conditions_begin.append('#ifndef CERES_NO_CUDA')
preprocessor_conditions_end.insert(0, '#endif // CERES_NO_CUDA')
# If there are #ifdefs, put newlines around them.
if preprocessor_conditions_begin:
preprocessor_conditions_begin.insert(0, '')
preprocessor_conditions_begin.append('')
preprocessor_conditions_end.insert(0, '')
preprocessor_conditions_end.append('')
# Put #ifdef/#ifndef stacks into the template parameters.
template_parameters['preprocessor_conditions_begin'] = '\n'.join(
preprocessor_conditions_begin)
template_parameters['preprocessor_conditions_end'] = '\n'.join(
preprocessor_conditions_end)
# Substitute variables into the test template, and write the result to a file.
filename_tag = '_'.join(FILENAME_SHORTENING_MAP.get(x) for x in [
linear_solver,
dense_backend_tag,
sparse_backend_tag,
preconditioner_tag,
ordering]
if FILENAME_SHORTENING_MAP.get(x))
if (thread_config == MULTI_THREADED):
filename_tag += '_threads'
filename = ('generated_bundle_adjustment_tests/ba_%s_test.cc' %
filename_tag.lower())
with open(filename, 'w') as fd:
fd.write(BUNDLE_ADJUSTMENT_TEST_TEMPLATE % template_parameters)
# All done.
print('Generated', filename)
return filename
if __name__ == '__main__':
# Iterate over all the possible configurations and generate the tests.
generated_files = []
for ordering in ORDERINGS:
for thread_config in THREAD_CONFIGS:
for linear_solver, dense_backend in DENSE_SOLVER_CONFIGS:
generated_files.append(
generate_bundle_test(linear_solver,
dense_backend,
'NO_SPARSE',
'IDENTITY',
ordering,
thread_config))
for linear_solver, sparse_backend, in SPARSE_SOLVER_CONFIGS:
generated_files.append(
generate_bundle_test(linear_solver,
'EIGEN',
sparse_backend,
'IDENTITY',
ordering,
thread_config))
for linear_solver, sparse_backend, preconditioner, in ITERATIVE_SOLVER_CONFIGS:
generated_files.append(
generate_bundle_test(linear_solver,
'EIGEN',
sparse_backend,
preconditioner,
ordering,
thread_config))
# Generate the CMakeLists.txt as well.
with open('generated_bundle_adjustment_tests/CMakeLists.txt', 'w') as fd:
fd.write(COPYRIGHT_HEADER.replace('//', '#').replace('http:#', 'http://'))
fd.write('\n')
fd.write('\n')
for generated_file in generated_files:
fd.write('ceres_test(%s)\n' %
generated_file.split('/')[1].replace('_test.cc', ''))
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