NN.h

#ifndef MTF_NN_H
#define MTF_NN_H

#include "SearchMethod.h"
#include "FGNN.h"
#include "NNParams.h"
#include "FLANNParams.h"

#include <flann/flann.hpp>
#include <memory>

_MTF_BEGIN_NAMESPACE

template<class AM, class SSM>
class NN : public SearchMethod < AM, SSM > {
    init_profiling();
public:
    typedef typename AM::DistType DistType;
    typedef flann::Matrix<double> flannMatT;
    typedef flann::Matrix<int> flannResultT;
    typedef unique_ptr<flannMatT> flannMatT_;

    //typedef flann::Index<flann::L2<double> > flannIdxT;
    typedef flann::Index<DistType> FLANN;
    typedef unique_ptr<FLANN> FLANN_;
    typedef gnn::FGNN<DistType> FGNN;
    typedef unique_ptr<FGNN> FGNN_;


    typedef NNParams ParamType;
    typedef FLANNParams::IdxType IdxType;
    typedef FLANNParams::SearchType SearchType;

    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;   

    NN(const ParamType *nn_params = nullptr, 
        const FLANNParams *flann_params = nullptr,
        const AMParams *am_params = nullptr,
        const SSMParams *ssm_params = nullptr);
    ~NN();

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

private:

    ParamType params;
    FLANNParams flann_params;
    FLANN_ flann_index;
    FGNN_ gnn_index;

    flannMatT_ flann_dataset;

    int frame_id;
    unsigned int am_dist_size;
    unsigned int ssm_state_size;

    unsigned int n_distr;
    VectorXi distr_n_samples;

    bool using_pix_sigma;
    vector<VectorXd> state_sigma, state_mean;

    Matrix24d prev_corners;
    VectorXd inv_state_update;

    vector<VectorXd> ssm_perturbations;

    MatrixXdr eig_dataset;
    VectorXd eig_query;
    VectorXi eig_result;
    VectorXd eig_dists;

    MatrixXdr eig_dataset_added;
    vector<VectorXd> ssm_perturbations_added;
    VectorXi distr_n_samples_added;


    int best_idx;
    double best_dist;

    string saved_db_path, saved_idx_path;
    cv::Mat curr_img_uchar;
    cv::Point2d curr_corners[4];

    bool dataset_loaded;

    char *log_fname;
    char *time_fname;

    void generateDataset(vector<VectorXd> &perturbations, 
        MatrixXdr &dataset, const VectorXi &_distr_n_samples);
    void loadDataset();
    void saveDataset();
};

_MTF_END_NAMESPACE

#endif