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_template_specializations.py b/internal/ceres/generate_template_specializations.py
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+# 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"),
+ (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()