90 lines
3.6 KiB
C
90 lines
3.6 KiB
C
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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//
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// Utility routines for validating arrays.
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//
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// These are useful for detecting two common class of errors.
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//
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// 1. Uninitialized memory - where the user for some reason did not
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// compute part of an array, but the code expects it.
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//
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// 2. Numerical failure while computing the cost/residual/jacobian,
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// e.g. NaN, infinities etc. This is particularly useful since the
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// automatic differentiation code does computations that are not
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// evident to the user and can silently generate hard to debug errors.
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#ifndef CERES_INTERNAL_ARRAY_UTILS_H_
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#define CERES_INTERNAL_ARRAY_UTILS_H_
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#include <string>
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#include "ceres/internal/port.h"
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namespace ceres {
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namespace internal {
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// Fill the array x with an impossible value that the user code is
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// never expected to compute.
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void InvalidateArray(int size, double* x);
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// Check if all the entries of the array x are valid, i.e. all the
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// values in the array should be finite and none of them should be
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// equal to the "impossible" value used by InvalidateArray.
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bool IsArrayValid(int size, const double* x);
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// If the array contains an invalid value, return the index for it,
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// otherwise return size.
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int FindInvalidValue(const int size, const double* x);
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// Utility routine to print an array of doubles to a string. If the
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// array pointer is NULL, it is treated as an array of zeros.
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void AppendArrayToString(const int size, const double* x, std::string* result);
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extern const double kImpossibleValue;
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// This routine takes an array of integer values, sorts and uniques
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// them and then maps each value in the array to its position in the
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// sorted+uniqued array. By doing this, if there are are k unique
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// values in the array, each value is replaced by an integer in the
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// range [0, k-1], while preserving their relative order.
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//
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// For example
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//
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// [1 0 3 5 0 1 5]
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//
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// gets mapped to
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//
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// [1 0 2 3 0 1 3]
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void MapValuesToContiguousRange(int size, int* array);
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_ARRAY_UTILS_H_
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