1 # Ceres Solver - A fast non-linear least squares minimizer 2 # Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved. 3 # http://code.google.com/p/ceres-solver/ 4 # 5 # Redistribution and use in source and binary forms, with or without 6 # modification, are permitted provided that the following conditions are met: 7 # 8 # * Redistributions of source code must retain the above copyright notice, 9 # this list of conditions and the following disclaimer. 10 # * Redistributions in binary form must reproduce the above copyright notice, 11 # this list of conditions and the following disclaimer in the documentation 12 # and/or other materials provided with the distribution. 13 # * Neither the name of Google Inc. nor the names of its contributors may be 14 # used to endorse or promote products derived from this software without 15 # specific prior written permission. 16 # 17 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 # POSSIBILITY OF SUCH DAMAGE. 28 # 29 # Author: sameeragarwal (at] google.com (Sameer Agarwal) 30 # 31 # Script for explicitly generating template specialization of the 32 # SchurEliminator class. It is a rather large class 33 # and the number of explicit instantiations is also large. Explicitly 34 # generating these instantiations in separate .cc files breaks the 35 # compilation into separate compilation unit rather than one large cc 36 # file which takes 2+GB of RAM to compile. 37 # 38 # This script creates two sets of files. 39 # 40 # 1. schur_eliminator_x_x_x.cc 41 # where, the x indicates the template parameters and 42 # 43 # 2. schur_eliminator.cc 44 # 45 # that contains a factory function for instantiating these classes 46 # based on runtime parameters. 47 # 48 # The list of tuples, specializations indicates the set of 49 # specializations that is generated. 50 51 # Set of template specializations to generate 52 SPECIALIZATIONS = [(2, 2, 2), 53 (2, 2, 3), 54 (2, 2, 4), 55 (2, 2, "Eigen::Dynamic"), 56 (2, 3, 3), 57 (2, 3, 4), 58 (2, 3, 9), 59 (2, 3, "Eigen::Dynamic"), 60 (2, 4, 3), 61 (2, 4, 4), 62 (2, 4, "Eigen::Dynamic"), 63 (4, 4, 2), 64 (4, 4, 3), 65 (4, 4, 4), 66 (4, 4, "Eigen::Dynamic"), 67 ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic")] 68 HEADER = """// Ceres Solver - A fast non-linear least squares minimizer 69 // Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved. 70 // http://code.google.com/p/ceres-solver/ 71 // 72 // Redistribution and use in source and binary forms, with or without 73 // modification, are permitted provided that the following conditions are met: 74 // 75 // * Redistributions of source code must retain the above copyright notice, 76 // this list of conditions and the following disclaimer. 77 // * Redistributions in binary form must reproduce the above copyright notice, 78 // this list of conditions and the following disclaimer in the documentation 79 // and/or other materials provided with the distribution. 80 // * Neither the name of Google Inc. nor the names of its contributors may be 81 // used to endorse or promote products derived from this software without 82 // specific prior written permission. 83 // 84 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 85 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 86 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 87 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 88 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 89 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 90 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 91 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 92 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 93 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 94 // POSSIBILITY OF SUCH DAMAGE. 95 // 96 // Author: sameeragarwal (at] google.com (Sameer Agarwal) 97 // 98 // Template specialization of SchurEliminator. 99 // 100 // ======================================== 101 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 102 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 103 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 104 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 105 //========================================= 106 // 107 // This file is generated using generate_eliminator_specialization.py. 108 // Editing it manually is not recommended. 109 """ 110 111 DYNAMIC_FILE = """ 112 113 #include "ceres/schur_eliminator_impl.h" 114 #include "ceres/internal/eigen.h" 115 116 namespace ceres { 117 namespace internal { 118 119 template class SchurEliminator<%s, %s, %s>; 120 121 } // namespace internal 122 } // namespace ceres 123 """ 124 125 SPECIALIZATION_FILE = """ 126 #ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION 127 128 #include "ceres/schur_eliminator_impl.h" 129 #include "ceres/internal/eigen.h" 130 131 namespace ceres { 132 namespace internal { 133 134 template class SchurEliminator<%s, %s, %s>; 135 136 } // namespace internal 137 } // namespace ceres 138 139 #endif // CERES_RESTRICT_SCHUR_SPECIALIZATION 140 """ 141 142 FACTORY_FILE_HEADER = """ 143 #include "ceres/linear_solver.h" 144 #include "ceres/schur_eliminator.h" 145 #include "ceres/internal/eigen.h" 146 147 namespace ceres { 148 namespace internal { 149 150 SchurEliminatorBase* 151 SchurEliminatorBase::Create(const LinearSolver::Options& options) { 152 #ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION 153 """ 154 155 FACTORY_CONDITIONAL = """ if ((options.row_block_size == %s) && 156 (options.e_block_size == %s) && 157 (options.f_block_size == %s)) { 158 return new SchurEliminator<%s, %s, %s>(options); 159 } 160 """ 161 162 FACTORY_FOOTER = """ 163 #endif 164 VLOG(1) << "Template specializations not found for <" 165 << options.row_block_size << "," 166 << options.e_block_size << "," 167 << options.f_block_size << ">"; 168 return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options); 169 } 170 171 } // namespace internal 172 } // namespace ceres 173 """ 174 175 176 def SuffixForSize(size): 177 if size == "Eigen::Dynamic": 178 return "d" 179 return str(size) 180 181 182 def SpecializationFilename(prefix, row_block_size, e_block_size, f_block_size): 183 return "_".join([prefix] + map(SuffixForSize, (row_block_size, 184 e_block_size, 185 f_block_size))) 186 187 188 def Specialize(): 189 """ 190 Generate specialization code and the conditionals to instantiate it. 191 """ 192 f = open("schur_eliminator.cc", "w") 193 f.write(HEADER) 194 f.write(FACTORY_FILE_HEADER) 195 196 for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS: 197 output = SpecializationFilename("generated/schur_eliminator", 198 row_block_size, 199 e_block_size, 200 f_block_size) + ".cc" 201 fptr = open(output, "w") 202 fptr.write(HEADER) 203 204 template = SPECIALIZATION_FILE 205 if (row_block_size == "Eigen::Dynamic" and 206 e_block_size == "Eigen::Dynamic" and 207 f_block_size == "Eigen::Dynamic"): 208 template = DYNAMIC_FILE 209 210 fptr.write(template % (row_block_size, e_block_size, f_block_size)) 211 fptr.close() 212 213 f.write(FACTORY_CONDITIONAL % (row_block_size, 214 e_block_size, 215 f_block_size, 216 row_block_size, 217 e_block_size, 218 f_block_size)) 219 f.write(FACTORY_FOOTER) 220 f.close() 221 222 223 if __name__ == "__main__": 224 Specialize() 225
