FALK.h

#ifndef MTF_FALK_H
#define MTF_FALK_H

#include "SearchMethod.h"
#include "FALKParams.h"

_MTF_BEGIN_NAMESPACE

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

    typedef FALKParams ParamType;
    typedef ParamType::HessType HessType;

    using SearchMethod<AM, SSM> ::name;
    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> ::initialize;
    using SearchMethod<AM, SSM> ::update;

    FALK(const ParamType *falk_params = nullptr,
        const AMParams *am_params = nullptr, const SSMParams *ssm_params = nullptr);

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

protected:
    ParamType params;

    // Let S = size of SSM state vector and N = resx * resy = no. of pixels in the object patch

    RowVectorXd jacobian;
    MatrixXd init_self_hessian, hessian;
    MatrixXd init_pix_jacobian, curr_pix_jacobian;
    MatrixXd init_pix_hessian, curr_pix_hessian;

    Matrix24d prev_corners;
    VectorXd ssm_update;
    int frame_id;

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

};
_MTF_END_NAMESPACE

#endif