ESM.h

#ifndef MTF_ESM_H
#define MTF_ESM_H

#include "SearchMethod.h"
#include "ESMParams.h"

_MTF_BEGIN_NAMESPACE

template<class AM, class SSM>
class ESM : public SearchMethod < AM, SSM > {

public:
    typedef ESMParams ParamType;

    typedef typename ParamType::JacType JacType;
    typedef typename ParamType::HessType HessType;

    using SearchMethod<AM, SSM> ::am;
    using SearchMethod<AM, SSM> ::ssm;
    using typename SearchMethod<AM, SSM> ::AMParams;
    using typename SearchMethod<AM, SSM> ::SSMParams;
    using SearchMethod<AM, SSM> ::cv_corners_mat;
    using SearchMethod<AM, SSM> ::name;
    using SearchMethod<AM, SSM> ::initialize;
    using SearchMethod<AM, SSM> ::update;   

    ESM(const ParamType *esm_params = nullptr,
        const AMParams *am_params = nullptr, 
        const SSMParams *ssm_params = nullptr);

    void initialize(const cv::Mat &corners) override;
    void update() override;
    void setRegion(const cv::Mat& corners) override;

protected:
    ParamType params;

    MatrixXd dI0_dpssm, dIt_dpssm, mean_dI_dpssm;
    MatrixXd d2I0_dpssm2, d2It_dpssm2, mean_d2I_dpssm2;

    RowVectorXd df_dp;
    MatrixXd d2f_dp2, init_d2f_dp2;

    VectorXd state_update, ssm_update, am_update;
    VectorXd inv_ssm_update, inv_am_update;
    int state_size, ssm_state_size, am_state_size;

    int frame_id;

    Matrix24d prev_corners;

    init_profiling();
    char *time_fname;
    char *log_fname;
};
_MTF_END_NAMESPACE

#endif