IALK2.h

#ifndef MTF_IALK2_H
#define MTF_IALK2_H

#include "SearchMethod.h"

#define IALK2_MAX_ITERS 10
#define IALK2_EPSILON 0.01
#define IALK2_HESS_TYPE 0
#define IALK2_SEC_ORD_HESS false
#define IALK2_DEBUG_MODE false

_MTF_BEGIN_NAMESPACE

struct IALK2Params{
    enum class HessType{ InitialSelf, CurrentSelf, Std };

    int max_iters; 
    double epsilon; 
    HessType hess_type;
    bool sec_ord_hess;
    bool debug_mode; 

    IALK2Params(int _max_iters, double _epsilon, 
        HessType _hess_type, bool _sec_ord_hess,
        bool _debug_mode
        ){
        max_iters = _max_iters;
        epsilon = _epsilon;
        hess_type = _hess_type;
        sec_ord_hess = _sec_ord_hess;
        debug_mode = _debug_mode;
    }
    IALK2Params(IALK2Params *params = nullptr) :
        max_iters(IALK2_MAX_ITERS), 
        epsilon(IALK2_EPSILON),
        hess_type(static_cast<HessType>(IALK2_HESS_TYPE)),
        sec_ord_hess(IALK2_SEC_ORD_HESS),
        debug_mode(IALK2_DEBUG_MODE){
        if(params){
            max_iters = params->max_iters;
            epsilon = params->epsilon;
            hess_type = params->hess_type;
            sec_ord_hess = params->sec_ord_hess;
            debug_mode = params->debug_mode;
        }
    }
};

template<class AM, class SSM>
class IALK2 : public SearchMethod < AM, SSM > {

public:
    typedef IALK2Params ParamType;
    typedef typename ParamType::HessType HessType;

    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;

    IALK2(const ParamType *iclk_params = NULL,
        const AMParams *am_params = NULL, const SSMParams *ssm_params = NULL);

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

private:
    ParamType params;

    // Let S = size of SSM state vector and N = resx * resy = no. of pixels in the object patch
    RowVectorXd jacobian;
    MatrixXd hessian;
    MatrixXd init_pix_jacobian, curr_pix_jacobian;
    MatrixXd init_pix_hessian, curr_pix_hessian;

    Matrix24d prev_corners;
    VectorXd ssm_update, inv_update;
    int frame_id;
    ClockType start_time, end_time;
    std::vector<double> proc_times;
    std::vector<char*> proc_labels;
    char *log_fname;
    char *time_fname;
    void updatePixJacobian();
    void updatePixHessian();

};
_MTF_END_NAMESPACE

#endif