CBH.h

#ifndef MTF_CHOMOGRAPHY_H
#define MTF_CHOMOGRAPHY_H

#include "ProjectiveBase.h"

_MTF_BEGIN_NAMESPACE

struct CBHParams : SSMParams{
    // compute all warps w.r.t. the initial object bounding box rather than the unit square 
    // centered at the origin
    bool normalized_init;
    double grad_eps;
    bool debug_mode;

    CBHParams(const SSMParams *ssm_params,
        bool _normalized_init, double _grad_eps, bool _debug_mode);
    CBHParams(const CBHParams *params = nullptr);
};
class CBH : public ProjectiveBase{
public:

    typedef CBHParams ParamType;

    using ProjectiveBase::setCorners;

    CBH( const ParamType *params_in = nullptr);

    void setCorners(const Matrix24d &corners) override;
    void compositionalUpdate(const VectorXd& state_update) override;

    void cmptInitPixJacobian(MatrixXd &jacobian_prod, const PixGradT &am_jacobian) override;
    void cmptWarpedPixJacobian(MatrixXd &dI_dp, const PixGradT &dI_dw) override;
    void cmptPixJacobian(MatrixXd &jacobian_prod, const PixGradT &am_jacobian) override;
    void cmptApproxPixJacobian(MatrixXd &jacobian_prod,
        const PixGradT &pix_jacobian) override;

    void estimateWarpFromCorners(VectorXd &state_update, const Matrix24d &in_corners,
        const Matrix24d &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 getInitPixGrad(Matrix2Xd &ssm_grad, int pt_id) override{
        getPixGrad(ssm_grad, pt_id, init_pts, init_corners);
    }
    void getCurrPixGrad(Matrix2Xd &ssm_grad, int pt_id) override{
        getPixGrad(ssm_grad, pt_id, curr_pts, curr_corners);
    }

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

private:

    ParamType params;

    Matrix3d warp_update_mat;
    Matrix3d warp_mat;
    RowVectorXdM hom_den;
    MatrixXd dw_dp_0, dw_dp_t;

    Matrix24d inc_corners, dec_corners;
    Matrix2Xd inc_pts, dec_pts;
    Matrix3d inc_warp, dec_warp;

    Matrix24d updated_corners;

    void computeJacobian(MatrixXd &jacobian, Matrix24d &basis_corners,
        Matrix3Xd &basis_pts_hm);
    void getPixGrad(Matrix2Xd &ssm_grad, int pt_id, const PtsT &pts, const CornersT &corners);

};

_MTF_END_NAMESPACE

#endif