# Ceres Solver - A fast non-linear least squares minimizer
# Copyright 2023 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]
DENSE_SOLVER_CONFIGS = [
# Linear solver Dense backend
('DENSE_SCHUR', 'EIGEN'),
('DENSE_SCHUR', 'LAPACK'),
('DENSE_SCHUR', 'CUDA'),
]
SPARSE_SOLVER_CONFIGS = [
# Linear solver Sparse backend
('SPARSE_NORMAL_CHOLESKY', 'SUITE_SPARSE'),
('SPARSE_NORMAL_CHOLESKY', 'EIGEN_SPARSE'),
('SPARSE_NORMAL_CHOLESKY', 'ACCELERATE_SPARSE'),
('SPARSE_SCHUR', 'SUITE_SPARSE'),
('SPARSE_SCHUR', 'EIGEN_SPARSE'),
('SPARSE_SCHUR', 'ACCELERATE_SPARSE'),
]
ITERATIVE_SOLVER_CONFIGS = [
# Linear solver Sparse backend Preconditioner
('ITERATIVE_SCHUR', 'NO_SPARSE', 'JACOBI'),
('ITERATIVE_SCHUR', 'NO_SPARSE', 'SCHUR_JACOBI'),
('ITERATIVE_SCHUR', 'NO_SPARSE', 'SCHUR_POWER_SERIES_EXPANSION'),
('ITERATIVE_SCHUR', 'SUITE_SPARSE', 'CLUSTER_JACOBI'),
('ITERATIVE_SCHUR', 'EIGEN_SPARSE', 'CLUSTER_JACOBI'),
('ITERATIVE_SCHUR', 'ACCELERATE_SPARSE','CLUSTER_JACOBI'),
('ITERATIVE_SCHUR', 'SUITE_SPARSE', 'CLUSTER_TRIDIAGONAL'),
('ITERATIVE_SCHUR', 'EIGEN_SPARSE', 'CLUSTER_TRIDIAGONAL'),
('ITERATIVE_SCHUR', 'ACCELERATE_SPARSE','CLUSTER_TRIDIAGONAL'),
]
FILENAME_SHORTENING_MAP = dict(
DENSE_SCHUR='denseschur',
ITERATIVE_SCHUR='iterschur',
SPARSE_NORMAL_CHOLESKY='sparsecholesky',
SPARSE_SCHUR='sparseschur',
EIGEN='eigen',
LAPACK='lapack',
CUDA='cuda',
NO_SPARSE='', # Omit sparse reference entirely for dense tests.
SUITE_SPARSE='suitesparse',
EIGEN_SPARSE='eigensparse',
ACCELERATE_SPARSE='acceleratesparse',
IDENTITY='identity',
JACOBI='jacobi',
SCHUR_JACOBI='schurjacobi',
CLUSTER_JACOBI='clustjacobi',
CLUSTER_TRIDIAGONAL='clusttri',
SCHUR_POWER_SERIES_EXPANSION='spse',
kAutomaticOrdering='auto',
kUserOrdering='user',
)
COPYRIGHT_HEADER = (
"""// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2023 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 "ceres/bundle_adjustment_test_util.h"
#include "ceres/internal/config.h"
#include "gtest/gtest.h"
%(preprocessor_conditions_begin)s
namespace ceres::internal {
TEST_F(BundleAdjustmentTest,
%(test_class_name)s) { // NOLINT
BundleAdjustmentProblem bundle_adjustment_problem;
Solver::Options* options = bundle_adjustment_problem.mutable_solver_options();
options->eta = 0.01;
options->num_threads = %(num_threads)s;
options->linear_solver_type = %(linear_solver)s;
options->dense_linear_algebra_library_type = %(dense_backend)s;
options->sparse_linear_algebra_library_type = %(sparse_backend)s;
options->preconditioner_type = %(preconditioner)s;
if (%(ordering)s) {
options->linear_solver_ordering = nullptr;
}
Problem* problem = bundle_adjustment_problem.mutable_problem();
RunSolverForConfigAndExpectResidualsMatch(*options, problem);
}
} // namespace ceres::internal
%(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,
dense_backend,
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 = ''
dense_backend_tag = dense_backend
if linear_solver != 'DENSE_SCHUR':
dense_backend_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(dense_backend_tag),
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,
dense_backend=dense_backend,
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 == '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')
if dense_backend == "LAPACK":
preprocessor_conditions_begin.append('#ifndef CERES_NO_LAPACK')
preprocessor_conditions_end.insert(0, '#endif // CERES_NO_LAPACK')
elif dense_backend == "CUDA":
preprocessor_conditions_begin.append('#ifndef CERES_NO_CUDA')
preprocessor_conditions_end.insert(0, '#endif // CERES_NO_CUDA')
# 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,
dense_backend_tag,
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 filename
if __name__ == '__main__':
# Iterate over all the possible configurations and generate the tests.
generated_files = []
for ordering in ORDERINGS:
for thread_config in THREAD_CONFIGS:
for linear_solver, dense_backend in DENSE_SOLVER_CONFIGS:
generated_files.append(
generate_bundle_test(linear_solver,
dense_backend,
'NO_SPARSE',
'IDENTITY',
ordering,
thread_config))
for linear_solver, sparse_backend, in SPARSE_SOLVER_CONFIGS:
generated_files.append(
generate_bundle_test(linear_solver,
'EIGEN',
sparse_backend,
'IDENTITY',
ordering,
thread_config))
for linear_solver, sparse_backend, preconditioner, in ITERATIVE_SOLVER_CONFIGS:
generated_files.append(
generate_bundle_test(linear_solver,
'EIGEN',
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', ''))