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, 8), 63 (2, 4, 9), 64 (2, 4, "Eigen::Dynamic"), 65 (2, "Eigen::Dynamic", "Eigen::Dynamic"), 66 (4, 4, 2), 67 (4, 4, 3), 68 (4, 4, 4), 69 (4, 4, "Eigen::Dynamic"), 70 ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic")] 71 HEADER = """// Ceres Solver - A fast non-linear least squares minimizer 72 // Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved. 73 // http://code.google.com/p/ceres-solver/ 74 // 75 // Redistribution and use in source and binary forms, with or without 76 // modification, are permitted provided that the following conditions are met: 77 // 78 // * Redistributions of source code must retain the above copyright notice, 79 // this list of conditions and the following disclaimer. 80 // * Redistributions in binary form must reproduce the above copyright notice, 81 // this list of conditions and the following disclaimer in the documentation 82 // and/or other materials provided with the distribution. 83 // * Neither the name of Google Inc. nor the names of its contributors may be 84 // used to endorse or promote products derived from this software without 85 // specific prior written permission. 86 // 87 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 88 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 89 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 90 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 91 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 92 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 93 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 94 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 95 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 96 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 97 // POSSIBILITY OF SUCH DAMAGE. 98 // 99 // Author: sameeragarwal (at] google.com (Sameer Agarwal) 100 // 101 // Template specialization of SchurEliminator. 102 // 103 // ======================================== 104 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 105 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 106 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 107 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 108 //========================================= 109 // 110 // This file is generated using generate_eliminator_specialization.py. 111 // Editing it manually is not recommended. 112 """ 113 114 DYNAMIC_FILE = """ 115 116 #include "ceres/schur_eliminator_impl.h" 117 #include "ceres/internal/eigen.h" 118 119 namespace ceres { 120 namespace internal { 121 122 template class SchurEliminator<%s, %s, %s>; 123 124 } // namespace internal 125 } // namespace ceres 126 """ 127 128 SPECIALIZATION_FILE = """ 129 // This include must come before any #ifndef check on Ceres compile options. 130 #include "ceres/internal/port.h" 131 132 #ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION 133 134 #include "ceres/schur_eliminator_impl.h" 135 #include "ceres/internal/eigen.h" 136 137 namespace ceres { 138 namespace internal { 139 140 template class SchurEliminator<%s, %s, %s>; 141 142 } // namespace internal 143 } // namespace ceres 144 145 #endif // CERES_RESTRICT_SCHUR_SPECIALIZATION 146 """ 147 148 FACTORY_FILE_HEADER = """ 149 #include "ceres/linear_solver.h" 150 #include "ceres/schur_eliminator.h" 151 #include "ceres/internal/eigen.h" 152 153 namespace ceres { 154 namespace internal { 155 156 SchurEliminatorBase* 157 SchurEliminatorBase::Create(const LinearSolver::Options& options) { 158 #ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION 159 """ 160 161 FACTORY_CONDITIONAL = """ if ((options.row_block_size == %s) && 162 (options.e_block_size == %s) && 163 (options.f_block_size == %s)) { 164 return new SchurEliminator<%s, %s, %s>(options); 165 } 166 """ 167 168 FACTORY_FOOTER = """ 169 #endif 170 VLOG(1) << "Template specializations not found for <" 171 << options.row_block_size << "," 172 << options.e_block_size << "," 173 << options.f_block_size << ">"; 174 return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options); 175 } 176 177 } // namespace internal 178 } // namespace ceres 179 """ 180 181 182 def SuffixForSize(size): 183 if size == "Eigen::Dynamic": 184 return "d" 185 return str(size) 186 187 188 def SpecializationFilename(prefix, row_block_size, e_block_size, f_block_size): 189 return "_".join([prefix] + map(SuffixForSize, (row_block_size, 190 e_block_size, 191 f_block_size))) 192 193 194 def Specialize(): 195 """ 196 Generate specialization code and the conditionals to instantiate it. 197 """ 198 f = open("schur_eliminator.cc", "w") 199 f.write(HEADER) 200 f.write(FACTORY_FILE_HEADER) 201 202 for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS: 203 output = SpecializationFilename("generated/schur_eliminator", 204 row_block_size, 205 e_block_size, 206 f_block_size) + ".cc" 207 fptr = open(output, "w") 208 fptr.write(HEADER) 209 210 template = SPECIALIZATION_FILE 211 if (row_block_size == "Eigen::Dynamic" and 212 e_block_size == "Eigen::Dynamic" and 213 f_block_size == "Eigen::Dynamic"): 214 template = DYNAMIC_FILE 215 216 fptr.write(template % (row_block_size, e_block_size, f_block_size)) 217 fptr.close() 218 219 f.write(FACTORY_CONDITIONAL % (row_block_size, 220 e_block_size, 221 f_block_size, 222 row_block_size, 223 e_block_size, 224 f_block_size)) 225 f.write(FACTORY_FOOTER) 226 f.close() 227 228 229 if __name__ == "__main__": 230 Specialize() 231
