LieAffine.h

#ifndef MTF_LIE_AFFINE_H
#define MTF_LIE_AFFINE_H

#include "ProjectiveBase.h"

_MTF_BEGIN_NAMESPACE

struct LieAffineParams : SSMParams{
    bool normalized_init;
    double grad_eps;
    bool debug_mode;
    LieAffineParams(const SSMParams *ssm_params,
        bool _normalized_init, double _grad_eps, bool _debug_mode);
    LieAffineParams(const LieAffineParams *params = nullptr);
};

class LieAffine : public ProjectiveBase{
public:

    typedef LieAffineParams ParamType;

    using StateSpaceModel::setCorners;

    LieAffine(const ParamType *params_in = nullptr);

    void setCorners(const Matrix24d &corners) 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 &dI_dp, const PixGradT &dI_dw) override;
    void cmptWarpedPixJacobian(MatrixXd &dI_dp, const PixGradT &dI_dw) override;
    void cmptPixJacobian(MatrixXd &dI_dp, const PixGradT &dI_dw) override;  
    void cmptApproxPixJacobian(MatrixXd &dI_dp,
        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 getWarpFromState(Matrix3d &warp_mat, const VectorXd& ssm_state) override;
    void getStateFromWarp(VectorXd &state_vec, const Matrix3d& warp_mat) override;

protected:
    ParamType params;

    Matrix3d lieAlgBasis[6];
    RowVector3d zero_vec;
    Matrix3d lie_alg_mat;

    void computeJacobian(MatrixXd &jacobian, Matrix3Xd &basis_pts_hm);
};

_MTF_END_NAMESPACE

#endif