| // 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) |
| |
| #include "ceres/array_utils.h" |
| |
| #include <algorithm> |
| #include <cmath> |
| #include <cstddef> |
| #include <string> |
| #include <vector> |
| |
| #include "ceres/stringprintf.h" |
| #include "ceres/types.h" |
| |
| namespace ceres::internal { |
| |
| bool IsArrayValid(const int64_t size, const double* x) { |
| if (x != nullptr) { |
| for (int64_t i = 0; i < size; ++i) { |
| if (!std::isfinite(x[i]) || (x[i] == kImpossibleValue)) { |
| return false; |
| } |
| } |
| } |
| return true; |
| } |
| |
| int64_t FindInvalidValue(const int64_t size, const double* x) { |
| if (x == nullptr) { |
| return size; |
| } |
| |
| for (int64_t i = 0; i < size; ++i) { |
| if (!std::isfinite(x[i]) || (x[i] == kImpossibleValue)) { |
| return i; |
| } |
| } |
| |
| return size; |
| } |
| |
| void InvalidateArray(const int64_t size, double* x) { |
| if (x != nullptr) { |
| for (int64_t i = 0; i < size; ++i) { |
| x[i] = kImpossibleValue; |
| } |
| } |
| } |
| |
| void AppendArrayToString(const int64_t size, |
| const double* x, |
| std::string* result) { |
| for (int64_t i = 0; i < size; ++i) { |
| if (x == nullptr) { |
| StringAppendF(result, "Not Computed "); |
| } else { |
| if (x[i] == kImpossibleValue) { |
| StringAppendF(result, "Uninitialized "); |
| } else { |
| StringAppendF(result, "%12g ", x[i]); |
| } |
| } |
| } |
| } |
| |
| void MapValuesToContiguousRange(const int64_t size, int* array) { |
| std::vector<int> unique_values(array, array + size); |
| std::sort(unique_values.begin(), unique_values.end()); |
| unique_values.erase(std::unique(unique_values.begin(), unique_values.end()), |
| unique_values.end()); |
| |
| for (int64_t i = 0; i < size; ++i) { |
| array[i] = |
| std::lower_bound(unique_values.begin(), unique_values.end(), array[i]) - |
| unique_values.begin(); |
| } |
| } |
| |
| } // namespace ceres::internal |