LieHomography.h

#ifndef MTF_LIE_HOMOGRAPHY_H
#define MTF_LIE_HOMOGRAPHY_H

#include "ProjectiveBase.h"

_MTF_BEGIN_NAMESPACE

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

class LieHomography : public ProjectiveBase{
public:

    typedef LieHomographyParams ParamType;
    using StateSpaceModel::setCorners;

    LieHomography( 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 &jacobian_prod, const PixGradT &pix_jacobian) override;
    void cmptWarpedPixJacobian(MatrixXd &dI_dp, const PixGradT &dI_dw) override;
    void cmptPixJacobian(MatrixXd &jacobian_prod, const PixGradT &pix_jacobian) override;   
    void cmptApproxPixJacobian(MatrixXd &jacobian_prod,
        const PixGradT &pix_jacobian) 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 cmptInitPixHessian(MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord,
        const PixGradT &pix_grad) override;

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

private:
    ParamType params;

    Matrix3d lieAlgBasis[8];
    RowVector3d zero_vec;
    Matrix3d lie_alg_mat;

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

_MTF_END_NAMESPACE

#endif