ParallelSM.h

#ifndef MTF_PARALLEL_SM_H
#define MTF_PARALLEL_SM_H

#include "CompositeSM.h"
#include "mtf/SM/ParallelParams.h"

_MTF_BEGIN_NAMESPACE

template<class AM, class SSM>
class ParallelSM : public CompositeSM<AM, SSM> {

public:
    typedef ParallelParams ParamType;
    typedef ParamType::PrlEstMethod PrlEstMethod;

    using typename CompositeSM<AM, SSM>::SM;
    typedef typename SM::SSMParams SSMParams;
    using CompositeSM<AM, SSM>::name;
    using CompositeSM<AM, SSM>::cv_corners_mat;
    using CompositeSM<AM, SSM>::trackers;
    using CompositeSM<AM, SSM>::n_trackers;
    using CompositeSM<AM, SSM>::input_type;

    ParallelSM(const vector<SM*> _trackers, const ParamType *parl_params,
         const SSMParams *ssm_params);
    void setImage(const cv::Mat &img) override;
    void initialize(const cv::Mat &corners) override;
    void update() override;
    const cv::Mat& getRegion() override { return cv_corners_mat; }
    void setRegion(const cv::Mat& corners)  override;

protected:

    SSM ssm;
    ParamType params;

    bool failure_detected;

    int buffer_id;
    bool buffer_filled;
    vector<cv::Mat> img_buffer, corners_buffer;

    cv::Mat curr_img;
    cv::Mat mean_corners_cv;

    int ssm_state_size;
    std::vector<VectorXd> ssm_states;
    VectorXd mean_state;

};


_MTF_END_NAMESPACE

#endif