| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 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: sameeragarwal@google.com (Sameer Agarwal) |
| // |
| // Utility routines for validating arrays. |
| // |
| // These are useful for detecting two common class of errors. |
| // |
| // 1. Uninitialized memory - where the user for some reason did not |
| // compute part of an array, but the code expects it. |
| // |
| // 2. Numerical failure while computing the cost/residual/jacobian, |
| // e.g. NaN, infinities etc. This is particularly useful since the |
| // automatic differentiation code does computations that are not |
| // evident to the user and can silently generate hard to debug errors. |
| |
| #ifndef CERES_INTERNAL_ARRAY_UTILS_H_ |
| #define CERES_INTERNAL_ARRAY_UTILS_H_ |
| |
| #include <string> |
| #include "ceres/internal/port.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| // Fill the array x with an impossible value that the user code is |
| // never expected to compute. |
| void InvalidateArray(int size, double* x); |
| |
| // Check if all the entries of the array x are valid, i.e. all the |
| // values in the array should be finite and none of them should be |
| // equal to the "impossible" value used by InvalidateArray. |
| bool IsArrayValid(int size, const double* x); |
| |
| // If the array contains an invalid value, return the index for it, |
| // otherwise return size. |
| int FindInvalidValue(const int size, const double* x); |
| |
| // Utility routine to print an array of doubles to a string. If the |
| // array pointer is NULL, it is treated as an array of zeros. |
| void AppendArrayToString(const int size, const double* x, std::string* result); |
| |
| // This routine takes an array of integer values, sorts and uniques |
| // them and then maps each value in the array to its position in the |
| // sorted+uniqued array. By doing this, if there are k unique |
| // values in the array, each value is replaced by an integer in the |
| // range [0, k-1], while preserving their relative order. |
| // |
| // For example |
| // |
| // [1 0 3 5 0 1 5] |
| // |
| // gets mapped to |
| // |
| // [1 0 2 3 0 1 3] |
| void MapValuesToContiguousRange(int size, int* array); |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_INTERNAL_ARRAY_UTILS_H_ |
