mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Nikolaus Demmel
7b8f675bfd
- Change formatting standard to Cpp11. Main difference is not having the space between two closing >> for nested templates. We don't choose c++14, because older versions of clang-format (version 9 and earlier) don't know this value yet, and it doesn't make a difference in the formatting. - Apply clang-format to all (non generated) internal source files. - Manually fix some code sections (clang-format on/off) and c-strings - Exclude some embedded external files with very different formatting (gtest/gmock) - Add script to format all source files Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
108 lines
3.3 KiB
C++
108 lines
3.3 KiB
C++
// 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 {
|
|
namespace internal {
|
|
|
|
using std::string;
|
|
|
|
bool IsArrayValid(const int size, const double* x) {
|
|
if (x != NULL) {
|
|
for (int i = 0; i < size; ++i) {
|
|
if (!std::isfinite(x[i]) || (x[i] == kImpossibleValue)) {
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
int FindInvalidValue(const int size, const double* x) {
|
|
if (x == NULL) {
|
|
return size;
|
|
}
|
|
|
|
for (int i = 0; i < size; ++i) {
|
|
if (!std::isfinite(x[i]) || (x[i] == kImpossibleValue)) {
|
|
return i;
|
|
}
|
|
}
|
|
|
|
return size;
|
|
}
|
|
|
|
void InvalidateArray(const int size, double* x) {
|
|
if (x != NULL) {
|
|
for (int i = 0; i < size; ++i) {
|
|
x[i] = kImpossibleValue;
|
|
}
|
|
}
|
|
}
|
|
|
|
void AppendArrayToString(const int size, const double* x, string* result) {
|
|
for (int i = 0; i < size; ++i) {
|
|
if (x == NULL) {
|
|
StringAppendF(result, "Not Computed ");
|
|
} else {
|
|
if (x[i] == kImpossibleValue) {
|
|
StringAppendF(result, "Uninitialized ");
|
|
} else {
|
|
StringAppendF(result, "%12g ", x[i]);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void MapValuesToContiguousRange(const int 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 (int i = 0; i < size; ++i) {
|
|
array[i] =
|
|
std::lower_bound(unique_values.begin(), unique_values.end(), array[i]) -
|
|
unique_values.begin();
|
|
}
|
|
}
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|