ICLK.h

#ifndef MTF_ICLK_H
#define MTF_ICLK_H

#include "SearchMethod.h"
#include "ICLKParams.h"

_MTF_BEGIN_NAMESPACE

template<class AM, class SSM>
class ICLK : public SearchMethod < AM, SSM > {
public:
    typedef ICLKParams 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;

    ICLK(const ParamType *iclk_params = nullptr,
        const AMParams *am_params = nullptr, const SSMParams *ssm_params = nullptr);

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

protected:

    ParamType params;

    // Let S = size of SSM state vector and N = resx * resy = no. of pixels in the object patch
    RowVectorXd df_dp;
    MatrixXd d2f_dp2_orig, d2f_dp2;
    MatrixXd dI0_dpssm, dIt_dpssm;
    MatrixXd d2I0_dpssm2, d2It_dpssm2;

    Matrix24d prev_corners;

    VectorXd state_update, ssm_update, am_update;
    VectorXd inv_ssm_update, inv_am_update;

    int state_size, ssm_state_size, am_state_size;
    int frame_id;

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


};
_MTF_END_NAMESPACE

#endif