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
41namespace ceres {
42namespace 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.
49const double kImpossibleValue = 1e302;
50
51bool 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
62int 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
76void 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
84void 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
98void 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