# 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 continous 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"] THREAD_CONFIGS = ["SolverConfig", "ThreadedSolverConfig"] 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', 'SUITE_SPARSE', 'CLUSTER_TRIDIAGONAL'), ('SPARSE_NORMAL_CHOLESKY', 'SUITE_SPARSE', 'IDENTITY'), ('SPARSE_NORMAL_CHOLESKY', 'EIGEN_SPARSE', 'IDENTITY'), ('SPARSE_NORMAL_CHOLESKY', 'CX_SPARSE', 'IDENTITY'), ('SPARSE_SCHUR', 'SUITE_SPARSE', 'IDENTITY'), ('SPARSE_SCHUR', 'EIGEN_SPARSE', 'IDENTITY'), ('SPARSE_SCHUR', 'CX_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', IDENTITY='identity', JACOBI='jacobi', SCHUR_JACOBI='schurjacobi', CLUSTER_JACOBI='clustjacobi', CLUSTER_TRIDIAGONAL='clusttri', kAutomaticOrdering='auto', kUserOrdering='user', SolverConfig='', # Omit references to threads for single threaded tests. ThreadedSolverConfig='threads', ) 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 RunSolverForConfigAndExpectResidualsMatch( %(thread_config)s( %(linear_solver)s, %(sparse_backend)s, %(ordering)s, %(preconditioner)s)); } } // 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 == 'ThreadedSolverConfig' else ''])) # Initial template parameters (augmented more below). template_parameters = dict( linear_solver=linear_solver, sparse_backend=sparse_backend, preconditioner=preconditioner, ordering=ordering, thread_config=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 == '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 == 'ThreadedSolverConfig': 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, thread_config] if FILENAME_SHORTENING_MAP.get(x)) 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', ''))