| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264 | # 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)snamespace 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 filenameif __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', ''))
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