Affine.h

#ifndef MTF_AFFINE_H
#define MTF_AFFINE_H

#include "ProjectiveBase.h"

_MTF_BEGIN_NAMESPACE

struct AffineParams : SSMParams{
    bool normalized_init;
    int pt_based_sampling;
    bool debug_mode;
    AffineParams(const SSMParams *ssm_params,
        bool _normalized_init, int _pt_based_sampling,
        bool _debug_mode);
    AffineParams(const AffineParams *params = nullptr);
};

class Affine : public ProjectiveBase{
public:

    typedef AffineParams ParamType;

    Affine( const ParamType *params_in = nullptr);

    using ProjectiveBase::setCorners;
    void setCorners(const CornersT &corners) override;

    void getInitPixGrad(Matrix2Xd &ssm_grad, int pix_id) override;
    // Gradient is independent of the current values of the warp parameters
    void getCurrPixGrad(Matrix2Xd &ssm_grad, int pix_id) override {
        getInitPixGrad(ssm_grad, pix_id);
    }
    void cmptInitPixJacobian(MatrixXd &jacobian_prod, const PixGradT &am_jacobian) override;
    // Jacobian is independent of the current values of the warp parameters
    void cmptPixJacobian(MatrixXd &jacobian_prod, const PixGradT &am_jacobian) override{
        cmptInitPixJacobian(jacobian_prod, am_jacobian);
    }
    void cmptApproxPixJacobian(MatrixXd &jacobian_prod, 
        const PixGradT &pix_jacobian) override;
    void cmptWarpedPixJacobian(MatrixXd &jacobian_prod,
        const PixGradT &pix_jacobian) override;

    void cmptInitPixHessian(MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord,
        const PixGradT &pix_grad) override;
    // Hessian is independent of the current values of the warp parameters
    void cmptPixHessian(MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord,
        const PixGradT &pix_grad) override {
        cmptInitPixHessian(pix_hess_ssm, pix_hess_coord, pix_grad);
    }
    void cmptWarpedPixHessian(MatrixXd &_d2I_dp2, const PixHessT &_d2I_dw2,
        const PixGradT &dI_dw) override;

    void compositionalUpdate(const VectorXd& state_update) override;
    void estimateWarpFromCorners(VectorXd &state_update, const CornersT &in_corners,
        const CornersT &out_corners) override;

    void estimateWarpFromPts(VectorXd &state_update, vector<uchar> &mask,
        const vector<cv::Point2f> &in_pts, const vector<cv::Point2f> &out_pts,
        const EstimatorParams &est_params) override;

    void invertState(VectorXd& inv_state, const VectorXd& state) override;
    void updateGradPts(double grad_eps) override;
    void updateHessPts(double hess_eps) override;

    void setState(const VectorXd &ssm_state) override;
    void applyWarpToCorners(CornersT &warped_corners, const CornersT &orig_corners,
        const VectorXd &state_update) override;
    void applyWarpToPts(Matrix2Xd &warped_pts, const Matrix2Xd &orig_pts,
        const VectorXd &state_update) override;

    void getWarpFromState(Matrix3d &warp_mat, const VectorXd& ssm_state) override;
    void getStateFromWarp(VectorXd &state_vec, const Matrix3d& warp_mat) override;

    void generatePerturbation(VectorXd &perturbation) override;
    void compositionalRandomWalk(VectorXd &perturbed_state,
        const VectorXd &base_state) override;
    void additiveRandomWalk(VectorXd &perturbed_state,
        const VectorXd &base_state) override;
    void additiveAutoRegression1(VectorXd &perturbed_state, VectorXd &perturbed_ar,
        const VectorXd &base_state, const VectorXd &base_ar, double a = 0.5) override;

#ifndef DISABLE_SPI
    bool supportsSPI() override{ return true; }
#endif

protected:
    ParamType params;

    Vector6d stateToGeom(const Vector6d &state);
    Vector6d geomToState(const Vector6d &geom);

};

_MTF_END_NAMESPACE

#endif