LRSCV.h

#ifndef MTF_LRSCV_H
#define MTF_LRSCV_H

#include "SSDBase.h"

#define LRSCV_N_BINS 256
#define LRSCV_PRE_SEED 0
#define LRSCV_WEIGHTED_MAPPING 0
#define LRSCV_DEBUG_MODE 0
#define LRSCV_SUB_REGIONS 3
#define LRSCV_SPACING 10
#define LRSCV_AFFINE_MAPPING 0
#define LRSCV_ONCE_PER_FRAME 0
#define LRSCV_SHOW_SUBREGIONS 0

_MTF_BEGIN_NAMESPACE

struct LRSCVParams : AMParams{

    int sub_regions_x, sub_regions_y;
    int spacing_x, spacing_y;
    // use affine or linear mapping instead of the standard one
    bool affine_mapping;
    // update the template only once per frame, i.e. when new_frame is set to true
    bool once_per_frame;

    int n_bins;
    double pre_seed;

    bool weighted_mapping;

    // show the locations of the subregions
    bool show_subregions;

    bool debug_mode;

    LRSCVParams(const AMParams *am_params,
        int _sub_regions_x, int _sub_regions_y,
        int _spacing_x, int _spacing_y,
        bool _affine_mapping, bool _once_per_frame,
        int _n_bins, double _pre_seed, bool _weighted_mapping,
        bool _show_subregions, bool _debug_mode);
    LRSCVParams(const LRSCVParams *params = nullptr);
};

class LRSCV : public SSDBase{

public:

    typedef LRSCVParams ParamType;

    LRSCV(const ParamType *lrscv_params = nullptr);
    void initializePixVals(const Matrix2Xd& init_pts) override;
    void updatePixVals(const Matrix2Xd& curr_pts) override;

private:

    ParamType params;

    int mapping_type;
    double hist_pre_seed;
    int patch_size_x, patch_size_y;
    int sub_region_size_x, sub_region_size_y;
    int n_sub_regions;

    VectorXd intensity_map;

    MatrixXd curr_joint_hist;
    VectorXd init_hist, curr_hist;

    ColPivHouseholderQR<MatrixX2d> intensity_vals_dec;
    MatrixXdMr init_patch, curr_patch;
    MatrixX2i sub_region_x, sub_region_y;
    MatrixX2d sub_region_centers;
    vector<VectorXd> mapped_pix_vals;
    MatrixX2d intensity_vals;
    Vector2d affine_params;
    MatrixXd sub_region_wts;

    MatrixX2i _std_bspl_ids, _init_bspl_ids, _curr_bspl_ids;
    EigImgMat _init_img;
    MatrixXi _subregion_idx;
    MatrixXi _pts_idx;

    cv::Mat patch_img, patch_img_uchar;

    char *patch_win_name;
    int sub_region_id;
    char *log_fname;

    void showSubRegions(const EigImgT& img, const Matrix2Xd& pts);
    void updateIntensityMap();
    void updateMappedPixVals(int index);
};

_MTF_END_NAMESPACE

#endif