10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 30ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://code.google.com/p/ceres-solver/ 40ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 50ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Redistribution and use in source and binary forms, with or without 60ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// modification, are permitted provided that the following conditions are met: 70ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 80ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions of source code must retain the above copyright notice, 90ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer. 100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions in binary form must reproduce the above copyright notice, 110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer in the documentation 120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and/or other materials provided with the distribution. 130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Neither the name of Google Inc. nor the names of its contributors may be 140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// used to endorse or promote products derived from this software without 150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// specific prior written permission. 160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// POSSIBILITY OF SUCH DAMAGE. 280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Author: wjr@google.com (William Rucklidge) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// This file contains a cost function that can apply a transformation to 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// each residual value before they are square-summed. 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#ifndef CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_ 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#define CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_ 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <vector> 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/cost_function.h" 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/scoped_ptr.h" 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/types.h" 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// This class allows you to apply different conditioning to the residual 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// values of a wrapped cost function. An example where this is useful is 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// where you have an existing cost function that produces N values, but you 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// want the total cost to be something other than just the sum of these 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// squared values - maybe you want to apply a different scaling to some 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// values, to change their contribution to the cost. 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Usage: 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// // my_cost_function produces N residuals 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CostFunction* my_cost_function = ... 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CHECK_EQ(N, my_cost_function->num_residuals()); 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// vector<CostFunction*> conditioners; 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// // Make N 1x1 cost functions (1 parameter, 1 residual) 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CostFunction* f_1 = ... 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// conditioners.push_back(f_1); 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ... 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CostFunction* f_N = ... 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// conditioners.push_back(f_N); 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ConditionedCostFunction* ccf = 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// new ConditionedCostFunction(my_cost_function, conditioners); 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Now ccf's residual i (i=0..N-1) will be passed though the i'th conditioner. 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ccf_residual[i] = f_i(my_cost_function_residual[i]) 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and the Jacobian will be affected appropriately. 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass ConditionedCostFunction : public CostFunction { 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong public: 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Builds a cost function based on a wrapped cost function, and a 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // per-residual conditioner. Takes ownership of all of the wrapped cost 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // functions, or not, depending on the ownership parameter. Conditioners 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // may be NULL, in which case the corresponding residual is not modified. 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ConditionedCostFunction(CostFunction* wrapped_cost_function, 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const vector<CostFunction*>& conditioners, 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Ownership ownership); 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual ~ConditionedCostFunction(); 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong virtual bool Evaluate(double const* const* parameters, 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* residuals, 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double** jacobians) const; 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong private: 890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong internal::scoped_ptr<CostFunction> wrapped_cost_function_; 900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<CostFunction*> conditioners_; 910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Ownership ownership_; 920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#endif // CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_ 98