mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Keir Mierle
7492b0d8de
Since Ceres is moving to using GitHub for issues, and the Google Code URL in the current copyright header will soon become invalid, update all the headers. Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
100 lines
4.1 KiB
C++
100 lines
4.1 KiB
C++
// 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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