Squashed 'third_party/ceres/' content from commit e51e9b4
Change-Id: I763587619d57e594d3fa158dc3a7fe0b89a1743b
git-subtree-dir: third_party/ceres
git-subtree-split: e51e9b46f6ca88ab8b2266d0e362771db6d98067
diff --git a/internal/ceres/generate_bundle_adjustment_tests.py b/internal/ceres/generate_bundle_adjustment_tests.py
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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]
+
+SOLVER_CONFIGS = [
+ # Linear solver Sparse backend Preconditioner
+ ('DENSE_SCHUR', 'NO_SPARSE', 'IDENTITY'),
+ ('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', 'CX_SPARSE', 'CLUSTER_JACOBI'),
+ ('ITERATIVE_SCHUR', 'ACCELERATE_SPARSE','CLUSTER_JACOBI'),
+ ('ITERATIVE_SCHUR', 'SUITE_SPARSE', 'CLUSTER_TRIDIAGONAL'),
+ ('ITERATIVE_SCHUR', 'EIGEN_SPARSE', 'CLUSTER_TRIDIAGONAL'),
+ ('ITERATIVE_SCHUR', 'CX_SPARSE', 'CLUSTER_TRIDIAGONAL'),
+ ('ITERATIVE_SCHUR', 'ACCELERATE_SPARSE','CLUSTER_TRIDIAGONAL'),
+ ('SPARSE_NORMAL_CHOLESKY', 'SUITE_SPARSE', 'IDENTITY'),
+ ('SPARSE_NORMAL_CHOLESKY', 'EIGEN_SPARSE', 'IDENTITY'),
+ ('SPARSE_NORMAL_CHOLESKY', 'CX_SPARSE', 'IDENTITY'),
+ ('SPARSE_NORMAL_CHOLESKY', 'ACCELERATE_SPARSE','IDENTITY'),
+ ('SPARSE_SCHUR', 'SUITE_SPARSE', 'IDENTITY'),
+ ('SPARSE_SCHUR', 'EIGEN_SPARSE', 'IDENTITY'),
+ ('SPARSE_SCHUR', 'CX_SPARSE', 'IDENTITY'),
+ ('SPARSE_SCHUR', 'ACCELERATE_SPARSE','IDENTITY'),
+]
+
+FILENAME_SHORTENING_MAP = dict(
+ DENSE_SCHUR='denseschur',
+ ITERATIVE_SCHUR='iterschur',
+ SPARSE_NORMAL_CHOLESKY='sparsecholesky',
+ SPARSE_SCHUR='sparseschur',
+ NO_SPARSE='', # Omit sparse reference entirely for dense tests.
+ SUITE_SPARSE='suitesparse',
+ EIGEN_SPARSE='eigensparse',
+ CX_SPARSE='cxsparse',
+ 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 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.
+//
+// ========================================
+// 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 "bundle_adjustment_test_util.h"
+%(preprocessor_conditions_begin)s
+namespace ceres {
+namespace 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->sparse_linear_algebra_library_type = %(sparse_backend)s;
+ options->preconditioner_type = %(preconditioner)s;
+ if (%(ordering)s) {
+ options->linear_solver_ordering.reset();
+ }
+ Problem* problem = bundle_adjustment_problem.mutable_problem();
+ RunSolverForConfigAndExpectResidualsMatch(*options, problem);
+}
+
+} // namespace internal
+} // namespace ceres
+%(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,
+ 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 = ''
+
+ # 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(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,
+ 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 == 'CX_SPARSE':
+ preprocessor_conditions_begin.append('#ifndef CERES_NO_CXSPARSE')
+ preprocessor_conditions_end.insert(0, '#endif // CERES_NO_CXSPARSE')
+ 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')
+
+ # Accumulate appropriate #ifdef/#ifndefs for threading conditions.
+ if thread_config == MULTI_THREADED:
+ preprocessor_conditions_begin.append('#ifndef CERES_NO_THREADS')
+ preprocessor_conditions_end.insert(0, '#endif // CERES_NO_THREADS')
+
+ # 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,
+ 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 linear_solver, sparse_backend, preconditioner in SOLVER_CONFIGS:
+ for ordering in ORDERINGS:
+ for thread_config in THREAD_CONFIGS:
+ generated_files.append(
+ generate_bundle_test(linear_solver,
+ 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', ''))