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249 lines
10 KiB
249 lines
10 KiB
# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2018 Google Inc. All rights reserved.
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# http://ceres-solver.org/
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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# * Neither the name of Google Inc. nor the names of its contributors may be
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# used to endorse or promote products derived from this software without
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# specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: keir@google.com (Keir Mierle)
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#
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# Generate bundle adjustment tests as separate binaries. Since the bundle
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# adjustment tests are fairly processing intensive, serializing them makes the
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# tests take forever to run. Splitting them into separate binaries makes it
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# easier to parallelize in continous integration systems, and makes local
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# processing on multi-core workstations much faster.
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# Product of ORDERINGS, THREAD_CONFIGS, and SOLVER_CONFIGS is the full set of
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# tests to generate.
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ORDERINGS = ["kAutomaticOrdering", "kUserOrdering"]
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THREAD_CONFIGS = ["SolverConfig", "ThreadedSolverConfig"]
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SOLVER_CONFIGS = [
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# Linear solver Sparse backend Preconditioner
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('DENSE_SCHUR', 'NO_SPARSE', 'IDENTITY'),
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('ITERATIVE_SCHUR', 'NO_SPARSE', 'JACOBI'),
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('ITERATIVE_SCHUR', 'NO_SPARSE', 'SCHUR_JACOBI'),
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('ITERATIVE_SCHUR', 'SUITE_SPARSE', 'CLUSTER_JACOBI'),
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('ITERATIVE_SCHUR', 'SUITE_SPARSE', 'CLUSTER_TRIDIAGONAL'),
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('SPARSE_NORMAL_CHOLESKY', 'SUITE_SPARSE', 'IDENTITY'),
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('SPARSE_NORMAL_CHOLESKY', 'EIGEN_SPARSE', 'IDENTITY'),
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('SPARSE_NORMAL_CHOLESKY', 'CX_SPARSE', 'IDENTITY'),
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('SPARSE_SCHUR', 'SUITE_SPARSE', 'IDENTITY'),
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('SPARSE_SCHUR', 'EIGEN_SPARSE', 'IDENTITY'),
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('SPARSE_SCHUR', 'CX_SPARSE', 'IDENTITY'),
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]
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FILENAME_SHORTENING_MAP = dict(
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DENSE_SCHUR='denseschur',
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ITERATIVE_SCHUR='iterschur',
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SPARSE_NORMAL_CHOLESKY='sparsecholesky',
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SPARSE_SCHUR='sparseschur',
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NO_SPARSE='', # Omit sparse reference entirely for dense tests.
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SUITE_SPARSE='suitesparse',
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EIGEN_SPARSE='eigensparse',
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CX_SPARSE='cxsparse',
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IDENTITY='identity',
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JACOBI='jacobi',
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SCHUR_JACOBI='schurjacobi',
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CLUSTER_JACOBI='clustjacobi',
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CLUSTER_TRIDIAGONAL='clusttri',
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kAutomaticOrdering='auto',
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kUserOrdering='user',
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SolverConfig='', # Omit references to threads for single threaded tests.
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ThreadedSolverConfig='threads',
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)
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COPYRIGHT_HEADER = (
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"""// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2018 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// ========================================
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// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
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// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
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// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
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// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
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// ========================================
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//
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// This file is generated using generate_bundle_adjustment_tests.py.""")
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BUNDLE_ADJUSTMENT_TEST_TEMPLATE = (COPYRIGHT_HEADER + """
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#include "bundle_adjustment_test_util.h"
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%(preprocessor_conditions_begin)s
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namespace ceres {
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namespace internal {
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TEST_F(BundleAdjustmentTest,
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%(test_class_name)s) { // NOLINT
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RunSolverForConfigAndExpectResidualsMatch(
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%(thread_config)s(
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%(linear_solver)s,
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%(sparse_backend)s,
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%(ordering)s,
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%(preconditioner)s));
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}
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} // namespace internal
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} // namespace ceres
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%(preprocessor_conditions_end)s
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""")
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def camelcasify(token):
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"""Convert capitalized underscore tokens to camel case"""
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return ''.join([x.lower().capitalize() for x in token.split('_')])
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def generate_bundle_test(linear_solver,
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sparse_backend,
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preconditioner,
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ordering,
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thread_config):
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"""Generate a bundle adjustment test executable configured appropriately"""
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# Preconditioner only makes sense for iterative schur; drop it otherwise.
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preconditioner_tag = preconditioner
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if linear_solver != 'ITERATIVE_SCHUR':
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preconditioner_tag = ''
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# Omit references to the sparse backend when one is not in use.
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sparse_backend_tag = sparse_backend
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if sparse_backend == 'NO_SPARSE':
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sparse_backend_tag = ''
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# Use a double underscore; otherwise the names are harder to understand.
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test_class_name = '_'.join(filter(lambda x: x, [
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camelcasify(linear_solver),
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camelcasify(sparse_backend_tag),
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camelcasify(preconditioner_tag),
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ordering[1:], # Strip 'k'
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'Threads' if thread_config == 'ThreadedSolverConfig' else '']))
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# Initial template parameters (augmented more below).
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template_parameters = dict(
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linear_solver=linear_solver,
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sparse_backend=sparse_backend,
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preconditioner=preconditioner,
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ordering=ordering,
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thread_config=thread_config,
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test_class_name=test_class_name)
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# Accumulate appropriate #ifdef/#ifndefs for the solver's sparse backend.
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preprocessor_conditions_begin = []
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preprocessor_conditions_end = []
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if sparse_backend == 'SUITE_SPARSE':
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preprocessor_conditions_begin.append('#ifndef CERES_NO_SUITESPARSE')
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preprocessor_conditions_end.insert(0, '#endif // CERES_NO_SUITESPARSE')
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elif sparse_backend == 'CX_SPARSE':
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preprocessor_conditions_begin.append('#ifndef CERES_NO_CXSPARSE')
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preprocessor_conditions_end.insert(0, '#endif // CERES_NO_CXSPARSE')
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elif sparse_backend == 'EIGEN_SPARSE':
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preprocessor_conditions_begin.append('#ifdef CERES_USE_EIGEN_SPARSE')
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preprocessor_conditions_end.insert(0, '#endif // CERES_USE_EIGEN_SPARSE')
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# Accumulate appropriate #ifdef/#ifndefs for threading conditions.
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if thread_config == 'ThreadedSolverConfig':
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preprocessor_conditions_begin.append('#ifndef CERES_NO_THREADS')
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preprocessor_conditions_end.insert(0, '#endif // CERES_NO_THREADS')
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# If there are #ifdefs, put newlines around them.
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if preprocessor_conditions_begin:
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preprocessor_conditions_begin.insert(0, '')
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preprocessor_conditions_begin.append('')
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preprocessor_conditions_end.insert(0, '')
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preprocessor_conditions_end.append('')
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# Put #ifdef/#ifndef stacks into the template parameters.
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template_parameters['preprocessor_conditions_begin'] = '\n'.join(
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preprocessor_conditions_begin)
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template_parameters['preprocessor_conditions_end'] = '\n'.join(
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preprocessor_conditions_end)
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# Substitute variables into the test template, and write the result to a file.
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filename_tag = '_'.join(FILENAME_SHORTENING_MAP.get(x) for x in [
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linear_solver,
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sparse_backend_tag,
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preconditioner_tag,
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ordering,
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thread_config]
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if FILENAME_SHORTENING_MAP.get(x))
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filename = ('generated_bundle_adjustment_tests/ba_%s_test.cc' %
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filename_tag.lower())
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with open(filename, 'w') as fd:
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fd.write(BUNDLE_ADJUSTMENT_TEST_TEMPLATE % template_parameters)
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# All done.
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print 'Generated', filename
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return filename
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if __name__ == '__main__':
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# Iterate over all the possible configurations and generate the tests.
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generated_files = []
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for linear_solver, sparse_backend, preconditioner in SOLVER_CONFIGS:
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for ordering in ORDERINGS:
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for thread_config in THREAD_CONFIGS:
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generated_files.append(
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generate_bundle_test(linear_solver,
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sparse_backend,
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preconditioner,
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ordering,
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thread_config))
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# Generate the CMakeLists.txt as well.
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with open('generated_bundle_adjustment_tests/CMakeLists.txt', 'w') as fd:
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fd.write(COPYRIGHT_HEADER.replace('//', '#').replace('http:#', 'http://'))
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fd.write('\n')
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fd.write('\n')
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for generated_file in generated_files:
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fd.write('ceres_test(%s)\n' %
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generated_file.split('/')[1].replace('_test.cc', ''))
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