GridTrackerFlow.h

#ifndef MTF_GRID_TRACKER_FLOW_H
#define MTF_GRID_TRACKER_FLOW_H

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

_MTF_BEGIN_NAMESPACE

template<class AM, class SSM>
class GridTrackerFlow : public GridBase{

public:

    typedef GridTrackerFlowParams ParamType;
    typedef typename  AM::ParamType AMParams;
    typedef typename SSM::ParamType SSMParams;
    typedef typename SSM::EstimatorParams EstimatorParams;


    GridTrackerFlow(
        const ParamType *grid_params = nullptr,
        const EstimatorParams *_est_params = nullptr,
        const AMParams *am_params = nullptr,
        const SSMParams *ssm_params = nullptr);

    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 am.inputType(); }
    SSM& getSSM() { return ssm; }
    AM& getAM() { return am; }

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

private:

    AM am;
    SSM ssm;
    ParamType params;
    EstimatorParams est_params;

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

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

    cv::Mat warp_mat;
    cv::Mat patch_corners;
    std::vector<uchar> pix_mask;

    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;

    ~GridTrackerFlow(){}
    void showPts();
};

_MTF_END_NAMESPACE

#endif