Isometry.h

#ifndef MTF_ISOMETRY_H
#define MTF_ISOMETRY_H

#include "ProjectiveBase.h"
#include "SSMEstimator.h"
#include "SSMEstimatorParams.h"

_MTF_BEGIN_NAMESPACE

struct IsometryParams : SSMParams{
    int pt_based_sampling;
    IsometryParams(const SSMParams *ssm_params, int _pt_based_sampling);
    IsometryParams(const IsometryParams *params = nullptr);
};

class IsometryEstimator : public SSMEstimator{
public:
    IsometryEstimator(int modelPoints, bool _use_boost_rng);

    int runKernel(const CvMat* m1, const CvMat* m2, CvMat* model) override;
    bool refine(const CvMat* m1, const CvMat* m2,
        CvMat* model, int maxIters) override;
protected:
    void computeReprojError(const CvMat* m1, const CvMat* m2,
        const CvMat* model, CvMat* error) override;
};

class Isometry : public ProjectiveBase{
public:
    typedef IsometryParams ParamType;

    Isometry( const ParamType *params_in = nullptr);

    void setState(const VectorXd &ssm_state) override;
    void compositionalUpdate(const VectorXd& state_update) override;

    void getInitPixGrad(Matrix2Xd &ssm_grad, int pix_id) override;
    void getCurrPixGrad(Matrix2Xd &ssm_grad, int pix_id) override;

    void cmptInitPixJacobian(MatrixXd &jacobian_prod, const PixGradT &am_jacobian) override;
    void cmptPixJacobian(MatrixXd &jacobian_prod, const PixGradT &am_jacobian) override;
    void cmptApproxPixJacobian(MatrixXd &jacobian_prod,
        const PixGradT &pix_jacobian) override;
    void cmptWarpedPixJacobian(MatrixXd &dI_dp, const PixGradT &dI_dx) override;
    void cmptInitPixHessian(MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord,
        const PixGradT &pix_grad) override;
    void cmptPixHessian(MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord,
        const PixGradT &pix_grad) override;
    void cmptWarpedPixHessian(MatrixXd &d2I_dp2, const PixHessT &d2I_dw2,
        const PixGradT &dI_dw) override;

    void estimateWarpFromCorners(VectorXd &state_update, const Matrix24d &in_corners,
        const Matrix24d &out_corners) override;
    void estimateWarpFromPts(VectorXd &state_update, vector<uchar> &mask,
        const vector<cv::Point2f> &in_pts, const vector<cv::Point2f> &out_pts,
        const EstimatorParams &est_params) override;

    //void invertState(VectorXd& inv_state, const VectorXd& state) override {
    //  inv_state = -state;
    //}
    void updateGradPts(double grad_eps) override;
    void updateHessPts(double hess_eps) override;

    void applyWarpToCorners(Matrix24d &warped_corners, const Matrix24d &orig_corners,
        const VectorXd &state_update) override;
    void applyWarpToPts(Matrix2Xd &warped_pts, const Matrix2Xd &orig_pts,
        const VectorXd &state_update) override;
    void generatePerturbation(VectorXd &perturbation) override;

    void getWarpFromState(Matrix3d &warp_mat, const VectorXd& ssm_state) override;
    void getStateFromWarp(VectorXd &state_vec, const Matrix3d& warp_mat) override;

#ifndef DISABLE_SPI
    bool supportsSPI() override{ return true; }
#endif

private:
    ParamType params;
    double getAngleOfRotation(double sin_theta, double cos_theta);

    cv::Mat estimateIsometry(cv::InputArray _points1, cv::InputArray _points2,
        cv::OutputArray _mask, const SSMEstimatorParams &est_params);
    int estimateIsometry(const CvMat* in_pts, const CvMat* out_pts,
        CvMat* __H, CvMat* mask, const SSMEstimatorParams &est_params);

};



_MTF_END_NAMESPACE

#endif