GridTrackerCV.h

#ifndef MTF_GRID_TRACKER_CV_H
#define MTF_GRID_TRACKER_CV_H

#include "GridBase.h"
#include <vector>

#define GTCV_GRID_SIZE_X 10
#define GTCV_GRID_SIZE_Y 10
#define GTCV_SEARCH_WINDOW_X 10
#define GTCV_SEARCH_WINDOW_Y 10
#define GTCV_RESET_AT_EACH_FRAME 1
#define GTCV_PATCH_CENTROID_INSIDE 0
#define GTCV_FB_ERR_THRESH 0
#define GTCV_PYRAMID_LEVELS 0
#define GTCV_USE_MIN_EIG_VALS 0
#define GTCV_MIN_EIG_THRESH 1e-4
#define GTCV_MAX_ITERS 30
#define GTCV_INPUT_TYPE CV_32FC1
#define GTCV_EPSILON 0.01
#define GTCV_SHOW_PTS 0
#define GTCV_DEBUG_MODE 0

_MTF_BEGIN_NAMESPACE

struct GridTrackerCVParams{

    int grid_size_x, grid_size_y;
    int search_window_x, search_window_y;
    bool reset_at_each_frame;
    bool patch_centroid_inside;

    double fb_err_thresh;

    int pyramid_levels;
    bool use_min_eig_vals;
    double min_eig_thresh;

    int max_iters; 
    double epsilon;

    int input_type;

    bool show_pts;// show the locations of individual patch trackers

    bool debug_mode; 

    GridTrackerCVParams(
        int _grid_size_x, int _grid_size_y,
        int _search_window_x, int _search_window_y,
        bool reset_at_each_frame, bool _patch_centroid_inside,
        double _fb_err_thresh,
        int _pyramid_levels, bool _use_min_eig_vals,
        double _min_eig_thresh, int _max_iters,
        double _epsilon, int _input_type, bool _show_pts,
        bool _debug_mode);
    GridTrackerCVParams(const GridTrackerCVParams *params = nullptr);

    int getResX() const{ return resx; }
    int getResY() const{ return resy; }

private:
    int resx, resy;
    void updateRes();
};

template<class SSM>
class GridTrackerCV : public GridBase{

public:
    typedef GridTrackerCVParams ParamType;
    typedef typename SSM::ParamType SSMParams;
    typedef typename SSM::EstimatorParams EstimatorParams;

    GridTrackerCV(const ParamType *grid_params, const EstimatorParams *_est_params,
        const SSMParams *ssm_params);

    void initialize(const cv::Mat &corners) override;
    void update() override;
    void setImage(const cv::Mat &img) override;
    void setRegion(const cv::Mat& corners) override;
    const uchar* getPixMask() override{ return pix_mask.data(); }
    int getResX() override{ return params.grid_size_x; }
    int getResY() override{ return params.grid_size_y; }
    const cv::Mat& getRegion() override{ return cv_corners_mat; }
    int inputType() const override{ return params.input_type; }
    SSM& getSSM() { return ssm; }
    
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

private:

    SSM ssm;
    ParamType params;
    EstimatorParams est_params;

    cv::Mat curr_img_in, curr_img, prev_img;
    cv::Mat curr_pts_mat, prev_pts_mat;

    std::vector<cv::Point2f> curr_pts, prev_pts;
    int n_pts;
    cv::Size search_window;
    cv::TermCriteria lk_term_criteria;

    cv::Mat warp_mat;
    cv::Mat patch_corners;
    std::vector<uchar> lk_status, pix_mask;
    std::vector<float> lk_error;
    int lk_flags;

    VectorXd ssm_update;

    cv::Mat curr_img_disp;

    Matrix2Xd centroid_offset;

    char* patch_win_name;

    MatrixXi _linear_idx;//used for indexing the sub region locations
    int pause_seq;

    bool enable_fb_err_est;
    std::vector<cv::Point2f> fb_prev_pts;
    VectorXb fb_err_mask;
    bool rgb_input, uchar_input;

    ~GridTrackerCV(){}
    void resetPts();
    void backwardEstimation();
    void showPts();
};

_MTF_END_NAMESPACE

#endif