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@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 43namespace 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. 73class 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