100 lines
4.1 KiB
C
100 lines
4.1 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: wjr@google.com (William Rucklidge)
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//
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// This file contains a cost function that can apply a transformation to
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// each residual value before they are square-summed.
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#ifndef CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_
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#define CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_
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#include <vector>
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#include "ceres/cost_function.h"
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#include "ceres/internal/scoped_ptr.h"
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#include "ceres/types.h"
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#include "ceres/internal/disable_warnings.h"
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namespace ceres {
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// This class allows you to apply different conditioning to the residual
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// values of a wrapped cost function. An example where this is useful is
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// where you have an existing cost function that produces N values, but you
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// want the total cost to be something other than just the sum of these
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// squared values - maybe you want to apply a different scaling to some
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// values, to change their contribution to the cost.
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//
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// Usage:
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//
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// // my_cost_function produces N residuals
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// CostFunction* my_cost_function = ...
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// CHECK_EQ(N, my_cost_function->num_residuals());
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// vector<CostFunction*> conditioners;
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//
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// // Make N 1x1 cost functions (1 parameter, 1 residual)
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// CostFunction* f_1 = ...
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// conditioners.push_back(f_1);
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// ...
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// CostFunction* f_N = ...
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// conditioners.push_back(f_N);
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// ConditionedCostFunction* ccf =
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// new ConditionedCostFunction(my_cost_function, conditioners);
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//
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// Now ccf's residual i (i=0..N-1) will be passed though the i'th conditioner.
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//
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// ccf_residual[i] = f_i(my_cost_function_residual[i])
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//
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// and the Jacobian will be affected appropriately.
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class CERES_EXPORT ConditionedCostFunction : public CostFunction {
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public:
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// Builds a cost function based on a wrapped cost function, and a
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// per-residual conditioner. Takes ownership of all of the wrapped cost
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// functions, or not, depending on the ownership parameter. Conditioners
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// may be NULL, in which case the corresponding residual is not modified.
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ConditionedCostFunction(CostFunction* wrapped_cost_function,
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const std::vector<CostFunction*>& conditioners,
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Ownership ownership);
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virtual ~ConditionedCostFunction();
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virtual bool Evaluate(double const* const* parameters,
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double* residuals,
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double** jacobians) const;
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private:
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internal::scoped_ptr<CostFunction> wrapped_cost_function_;
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std::vector<CostFunction*> conditioners_;
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Ownership ownership_;
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};
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} // namespace ceres
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#include "ceres/internal/reenable_warnings.h"
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#endif // CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_
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