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Diffstat (limited to 'include/ceres/conditioned_cost_function.h')
| -rw-r--r-- | include/ceres/conditioned_cost_function.h | 97 |
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diff --git a/include/ceres/conditioned_cost_function.h b/include/ceres/conditioned_cost_function.h new file mode 100644 index 0000000..498d36e --- /dev/null +++ b/include/ceres/conditioned_cost_function.h @@ -0,0 +1,97 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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: wjr@google.com (William Rucklidge) +// +// This file contains a cost function that can apply a transformation to +// each residual value before they are square-summed. + +#ifndef CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_ +#define CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_ + +#include <vector> + +#include "ceres/cost_function.h" +#include "ceres/internal/scoped_ptr.h" +#include "ceres/types.h" + +namespace ceres { + +// This class allows you to apply different conditioning to the residual +// values of a wrapped cost function. An example where this is useful is +// where you have an existing cost function that produces N values, but you +// want the total cost to be something other than just the sum of these +// squared values - maybe you want to apply a different scaling to some +// values, to change their contribution to the cost. +// +// Usage: +// +// // my_cost_function produces N residuals +// CostFunction* my_cost_function = ... +// CHECK_EQ(N, my_cost_function->num_residuals()); +// vector<CostFunction*> conditioners; +// +// // Make N 1x1 cost functions (1 parameter, 1 residual) +// CostFunction* f_1 = ... +// conditioners.push_back(f_1); +// ... +// CostFunction* f_N = ... +// conditioners.push_back(f_N); +// ConditionedCostFunction* ccf = +// new ConditionedCostFunction(my_cost_function, conditioners); +// +// Now ccf's residual i (i=0..N-1) will be passed though the i'th conditioner. +// +// ccf_residual[i] = f_i(my_cost_function_residual[i]) +// +// and the Jacobian will be affected appropriately. +class ConditionedCostFunction : public CostFunction { + public: + // Builds a cost function based on a wrapped cost function, and a + // per-residual conditioner. Takes ownership of all of the wrapped cost + // functions, or not, depending on the ownership parameter. Conditioners + // may be NULL, in which case the corresponding residual is not modified. + ConditionedCostFunction(CostFunction* wrapped_cost_function, + const vector<CostFunction*>& conditioners, + Ownership ownership); + virtual ~ConditionedCostFunction(); + + virtual bool Evaluate(double const* const* parameters, + double* residuals, + double** jacobians) const; + + private: + internal::scoped_ptr<CostFunction> wrapped_cost_function_; + vector<CostFunction*> conditioners_; + Ownership ownership_; +}; + +} // namespace ceres + + +#endif // CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_ |