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@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
IsArrayValid(const int size,const double * x)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
FindInvalidValue(const int size,const double * x)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
InvalidateArray(const int size,double * x)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
AppendArrayToString(const int size,const double * x,string * result)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
MapValuesToContiguousRange(const int size,int * array)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