1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2010, 2011, 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: wjr (at) google.com (William Rucklidge) 30 // 31 // This file contains a cost function that can apply a transformation to 32 // each residual value before they are square-summed. 33 34 #ifndef CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_ 35 #define CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_ 36 37 #include <vector> 38 39 #include "ceres/cost_function.h" 40 #include "ceres/internal/scoped_ptr.h" 41 #include "ceres/types.h" 42 43 namespace ceres { 44 45 // This class allows you to apply different conditioning to the residual 46 // values of a wrapped cost function. An example where this is useful is 47 // where you have an existing cost function that produces N values, but you 48 // want the total cost to be something other than just the sum of these 49 // squared values - maybe you want to apply a different scaling to some 50 // values, to change their contribution to the cost. 51 // 52 // Usage: 53 // 54 // // my_cost_function produces N residuals 55 // CostFunction* my_cost_function = ... 56 // CHECK_EQ(N, my_cost_function->num_residuals()); 57 // vector<CostFunction*> conditioners; 58 // 59 // // Make N 1x1 cost functions (1 parameter, 1 residual) 60 // CostFunction* f_1 = ... 61 // conditioners.push_back(f_1); 62 // ... 63 // CostFunction* f_N = ... 64 // conditioners.push_back(f_N); 65 // ConditionedCostFunction* ccf = 66 // new ConditionedCostFunction(my_cost_function, conditioners); 67 // 68 // Now ccf's residual i (i=0..N-1) will be passed though the i'th conditioner. 69 // 70 // ccf_residual[i] = f_i(my_cost_function_residual[i]) 71 // 72 // and the Jacobian will be affected appropriately. 73 class ConditionedCostFunction : public CostFunction { 74 public: 75 // Builds a cost function based on a wrapped cost function, and a 76 // per-residual conditioner. Takes ownership of all of the wrapped cost 77 // functions, or not, depending on the ownership parameter. Conditioners 78 // may be NULL, in which case the corresponding residual is not modified. 79 ConditionedCostFunction(CostFunction* wrapped_cost_function, 80 const vector<CostFunction*>& conditioners, 81 Ownership ownership); 82 virtual ~ConditionedCostFunction(); 83 84 virtual bool Evaluate(double const* const* parameters, 85 double* residuals, 86 double** jacobians) const; 87 88 private: 89 internal::scoped_ptr<CostFunction> wrapped_cost_function_; 90 vector<CostFunction*> conditioners_; 91 Ownership ownership_; 92 }; 93 94 } // namespace ceres 95 96 97 #endif // CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_ 98
