Added the ability to change cost functions
Added the ability to change cost functions


DougFirErickson/visionworkbench,DougFirErickson/visionworkbench,fengzhyuan/visionworkbench,AveRapina/visionworkbench,fengzhyuan/visionworkbench,fengzhyuan/visionworkbench,AveRapina/visionworkbench,fengzhyuan/visionworkbench,AveRapina/visionworkbench,fengzhyuan/visionworkbench,fengzhyuan/visionworkbench,fengzhyuan/visionworkbench,AveRapina/visionworkbench,DougFirErickson/visionworkbench,DougFirErickson/visionworkbench,AveRapina/visionworkbench,DougFirErickson/visionworkbench,DougFirErickson/visionworkbench,AveRapina/visionworkbench