FESMBase.h

#ifndef MTF_FESMBASE_H
#define MTF_FESMBASE_H

#include "SearchMethod.h"

#define FESM_MAX_ITERS 10
#define FESM_UPD_THRESH 0.01
#define FESM_SEC_ORD_HESS false
#define FESM_ENABLE_SPI false
#define FESM_SPI_THRESH 10
#define FESM_DEBUG_MODE false

_MTF_BEGIN_NAMESPACE

struct FESMParams{

    enum class JacType{ Original, DiffOfJacs };
    enum class HessType {
        Original, SumOfStd, SumOfSelf,
        InitialSelf, CurrentSelf, Std
    };

    int max_iters; 
    double upd_thresh; 
    bool sec_ord_hess;

    bool enable_spi;
    double spi_thresh;
    bool debug_mode; 

    // value constructor
    FESMParams(int _max_iters, double _upd_thresh,
        bool _sec_ord_hess,
        bool _enable_spi, double _spi_thresh,
        bool _debug_mode){
        max_iters = _max_iters;
        upd_thresh = _upd_thresh;
        sec_ord_hess = _sec_ord_hess;
        enable_spi = _enable_spi;
        spi_thresh = _spi_thresh;
        debug_mode = _debug_mode;
    }
    // default and copy constructor
    FESMParams(FESMParams *params = nullptr) :
        max_iters(FESM_MAX_ITERS),
        upd_thresh(FESM_UPD_THRESH),
        sec_ord_hess(FESM_SEC_ORD_HESS),
        enable_spi(FESM_ENABLE_SPI),
        spi_thresh(FESM_SPI_THRESH),
        debug_mode(FESM_DEBUG_MODE){
        if(params){
            max_iters = params->max_iters;
            upd_thresh = params->upd_thresh;
            sec_ord_hess = params->sec_ord_hess;
            enable_spi = params->enable_spi;
            spi_thresh = params->spi_thresh;
            debug_mode = params->debug_mode;
        }
    }
};

template<class AM, class SSM>
class FESMBase : public SearchMethod < AM, SSM > {
public:
    typedef FESMParams ParamType;
    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;

    FESMBase(const ParamType *nesm_params = nullptr,
        const AMParams *am_params = nullptr,
        const SSMParams *ssm_params = nullptr);

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

    virtual void initializeHessian(){}
    virtual void updateJacobian();
    virtual void updateHessian();

    // functions re implemented by AFESMBase to get the additive variant
    void initializePixJacobian();
    void updatePixJacobian();
    void initializePixHessian();
    void updatePixHessian();
    void updateSSM();

protected:
    ParamType params;

    int frame_id;
    VectorXc pix_mask2;
    VectorXb pix_mask;
    VectorXd rel_pix_diff;
    cv::Mat pix_mask_img;
    double max_pix_diff;
    char* spi_win_name;

    Matrix24d prev_corners;

    MatrixXd init_pix_jacobian, curr_pix_jacobian, mean_pix_jacobian;
    MatrixXd init_pix_hessian, curr_pix_hessian, mean_pix_hessian;

    VectorXd ssm_update;

    RowVectorXd jacobian;
    MatrixXd hessian, init_self_hessian;

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

    string hess_order;

    void initializeSPIMask();
    void updateSPIMask();
    void showSPIMask();
};
_MTF_END_NAMESPACE

#endif