1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2012 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 #include "ceres/array_utils.h" 32 33 #include <algorithm> 34 #include <cmath> 35 #include <cstddef> 36 #include <string> 37 #include <vector> 38 #include "ceres/fpclassify.h" 39 #include "ceres/stringprintf.h" 40 41 namespace ceres { 42 namespace internal { 43 44 // It is a near impossibility that user code generates this exact 45 // value in normal operation, thus we will use it to fill arrays 46 // before passing them to user code. If on return an element of the 47 // array still contains this value, we will assume that the user code 48 // did not write to that memory location. 49 const double kImpossibleValue = 1e302; 50 51 bool IsArrayValid(const int size, const double* x) { 52 if (x != NULL) { 53 for (int i = 0; i < size; ++i) { 54 if (!IsFinite(x[i]) || (x[i] == kImpossibleValue)) { 55 return false; 56 } 57 } 58 } 59 return true; 60 } 61 62 int FindInvalidValue(const int size, const double* x) { 63 if (x == NULL) { 64 return size; 65 } 66 67 for (int i = 0; i < size; ++i) { 68 if (!IsFinite(x[i]) || (x[i] == kImpossibleValue)) { 69 return i; 70 } 71 } 72 73 return size; 74 }; 75 76 void InvalidateArray(const int size, double* x) { 77 if (x != NULL) { 78 for (int i = 0; i < size; ++i) { 79 x[i] = kImpossibleValue; 80 } 81 } 82 } 83 84 void AppendArrayToString(const int size, const double* x, string* result) { 85 for (int i = 0; i < size; ++i) { 86 if (x == NULL) { 87 StringAppendF(result, "Not Computed "); 88 } else { 89 if (x[i] == kImpossibleValue) { 90 StringAppendF(result, "Uninitialized "); 91 } else { 92 StringAppendF(result, "%12g ", x[i]); 93 } 94 } 95 } 96 } 97 98 void MapValuesToContiguousRange(const int size, int* array) { 99 std::vector<int> unique_values(array, array + size); 100 std::sort(unique_values.begin(), unique_values.end()); 101 unique_values.erase(std::unique(unique_values.begin(), 102 unique_values.end()), 103 unique_values.end()); 104 105 for (int i = 0; i < size; ++i) { 106 array[i] = std::lower_bound(unique_values.begin(), 107 unique_values.end(), 108 array[i]) - unique_values.begin(); 109 } 110 } 111 112 } // namespace internal 113 } // namespace ceres 114
