GridTracker.h

#ifndef MTF_GRID_TRACKER2_H
#define MTF_GRID_TRACKER2_H

#include "GridBase.h"

#include <vector>

#define GT_GRID_SIZE_X 10
#define GT_GRID_SIZE_Y 10
#define GT_PATCH_SIZE_X 10
#define GT_PATCH_SIZE_Y 10
#define GT_RESET_AT_EACH_FRAME 1
#define GT_DYN_PATCH_SIZE 0
#define GT_PATCH_CENTROID_INSIDE true
#define GT_FB_ERR_THRESH 0
#define GT_FB_REINIT true
#define GT_USE_TBB true
#define GT_MAX_ITERS 1
#define GT_EPSILON 0.01
#define GT_ENABLE_PYR 0
#define GT_SHOW_TRACKERS 0
#define GT_SHOW_TRACKER_EDGES 0
#define GT_DEBUG_MODE 0

_MTF_BEGIN_NAMESPACE

struct GridTrackerParams{

    int grid_size_x, grid_size_y;
    int patch_size_x, patch_size_y;

    int reset_at_each_frame;
    bool dyn_patch_size;

    bool patch_centroid_inside;

    double fb_err_thresh;
    bool fb_reinit;

    bool use_tbb;

    int max_iters; 
    double epsilon;
    bool enable_pyr;

    bool show_trackers;// show the locations of individual patch trackers
    bool show_tracker_edges;

    bool debug_mode; 

    GridTrackerParams(
        int _grid_size_x, int _grid_size_y,
        int _patch_size_x, int _patch_size_y,
        int _reset_at_each_frame, bool _dyn_patch_size,
        bool _patch_centroid_inside, double fb_err_thresh,
        bool _fb_reinit, bool _use_tbb, int _max_iters, double _epsilon,
        bool _enable_pyr,bool _show_trackers, 
        bool _show_tracker_edges,bool _debug_mode);
    GridTrackerParams(const GridTrackerParams *params = nullptr);

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

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

template<class SSM>
class GridTracker : public GridBase{

public:

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

    typedef GridTrackerParams ParamType;

    GridTracker(const vector<TrackerBase*> _trackers, 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 cv::Mat& getRegion() override{ return cv_corners_mat; }
    const uchar* getPixMask() override{ return pix_mask.data(); }
    int getResX() override{ return params.grid_size_x; }
    int getResY() override{ return params.grid_size_y; }
    SSM& getSSM() { return ssm; }

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

private:

    SSM ssm;
    ParamType params;
    EstimatorParams est_params;

    double centrod_dist_x, centrod_dist_y;

    std::vector<cv::Point2f> prev_pts;
    std::vector<cv::Point2f> curr_pts;

    cv::Mat patch_corners;
    std::vector<uchar> pix_mask;
    VectorXd ssm_update;

    cv::Mat curr_img, prev_img;
    cv::Mat curr_img_disp;

    Matrix2Xd centroid_offset;

    char* patch_win_name;
    MatrixXi _linear_idx;
    int pause_seq;
    bool reinit_at_each_frame;

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

    ~GridTracker(){}
    void resetTrackers(bool reinit=true);
    void backwardEstimation();
    void showTrackers();

};

_MTF_END_NAMESPACE

#endif