SL3.h

#ifndef MTF_SL3_H
#define MTF_SL3_H

#include "ProjectiveBase.h"

_MTF_BEGIN_NAMESPACE

struct SL3Params : SSMParams{
    bool normalized_init;
    bool iterative_sample_mean;
    int sample_mean_max_iters;
    double sample_mean_eps;
    bool debug_mode;
    SL3Params(const SSMParams *ssm_params,
        bool _normalized_init, bool _iterative_sample_mean,
        int _sample_mean_max_iters, double _sample_mean_eps,
        bool _debug_mode);
    SL3Params(const SL3Params *params = nullptr);
};

class SL3 : public ProjectiveBase{
public:

    typedef SL3Params ParamType;

    SL3( const ParamType *params_in = nullptr);

    void setState(const VectorXd &ssm_state) override;
    void setCorners(const Matrix24d &corners) override;
    using StateSpaceModel::setCorners;
    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 initializeSampler(const VectorXd &state_sigma,
        const VectorXd &state_mean) override;
    void setSampler(const VectorXd &state_sigma,
        const VectorXd &state_mean) override;
    using ProjectiveBase::initializeSampler;
    VectorXd getSamplerSigma() override;
    void generatePerturbation(VectorXd &perturbation) override;

    void compositionalRandomWalk(VectorXd &perturbed_state,
        const VectorXd &base_state) override;
    void compositionalAutoRegression1(VectorXd &perturbed_state, VectorXd &perturbed_ar,
        const VectorXd &base_state, const VectorXd &base_ar, double a = 0.5) override;
    void estimateMeanOfSamples(VectorXd &sample_mean,
        const std::vector<VectorXd> &samples, int n_samples) override;
private:

    ParamType params;

    Matrix3d lieAlgBasis[8];
    Matrix3d lie_alg_mat;
    ProjWarpT lie_group_perturbation;

    Matrix8d covariance_mat;

    char *log_fname;

    void getWarpFromState(Matrix3d &warp_mat, const VectorXd& ssm_state) override;
    void getStateFromWarp(VectorXd &state_vec, const Matrix3d& warp_mat) override;
    void getLieAlgMatFromState(Matrix3d& lie_alg_mat, const VectorXd& ssm_state);
    void getStateFromLieAlgMat(VectorXd &state_vec,
        const Matrix3d& lie_alg_mat);
};

_MTF_END_NAMESPACE

#endif