| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2019 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // 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. |
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| // specific prior written permission. |
| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| // |
| // 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 <memory> |
| #include <vector> |
| |
| #include "ceres/cost_function.h" |
| #include "ceres/internal/disable_warnings.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 CERES_EXPORT ConditionedCostFunction final : 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 nullptr, in which case the corresponding residual is not modified. |
| // |
| // The conditioners can repeat. |
| ConditionedCostFunction(CostFunction* wrapped_cost_function, |
| const std::vector<CostFunction*>& conditioners, |
| Ownership ownership); |
| ~ConditionedCostFunction() override; |
| |
| bool Evaluate(double const* const* parameters, |
| double* residuals, |
| double** jacobians) const override; |
| |
| private: |
| std::unique_ptr<CostFunction> wrapped_cost_function_; |
| std::vector<CostFunction*> conditioners_; |
| Ownership ownership_; |
| }; |
| |
| } // namespace ceres |
| |
| #include "ceres/internal/reenable_warnings.h" |
| |
| #endif // CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_ |