SSMEstimator.h

#ifndef MTF_SSM_ESTIMATOR_H
#define MTF_SSM_ESTIMATOR_H

#include "mtf/Macros/common.h"

#include <boost/random/mersenne_twister.hpp>

_MTF_BEGIN_NAMESPACE


class SSMEstimator{
public:
    SSMEstimator(int _modelPoints, CvSize _modelSize, 
        int _maxBasicSolutions, bool _use_boost_rng);
    virtual ~SSMEstimator();

    virtual int runKernel(const CvMat* m1, const CvMat* m2, CvMat* model) = 0;
    virtual bool runLMeDS(const CvMat* m1, const CvMat* m2, CvMat* model,
        CvMat* mask, double confidence = 0.99, int maxIters = 2000, int maxAttempts = 300);
    virtual bool runRANSAC(const CvMat* m1, const CvMat* m2, CvMat* model,
        CvMat* mask, double threshold, double confidence = 0.99, int maxIters = 2000,
        int maxAttempts=300);
    virtual bool refine(const CvMat*, const CvMat*, CvMat*, int) { return true; }
    virtual void setSeed(int64 seed);

protected:
    virtual void computeReprojError(const CvMat* m1, const CvMat* m2,
        const CvMat* model, CvMat* error) = 0;
    virtual int findInliers(const CvMat* m1, const CvMat* m2,
        const CvMat* model, CvMat* error,
        CvMat* mask, double threshold);
    virtual bool getSubset(const CvMat* m1, const CvMat* m2,
        CvMat* ms1, CvMat* ms2, int maxAttempts = 1000);
    virtual bool checkSubset(const CvMat* ms1, int count);

    typedef boost::mt19937 BoostRNG;

    CvRNG cv_rng;
    BoostRNG boost_rng;

    int modelPoints;
    CvSize modelSize;
    int maxBasicSolutions;
    bool checkPartialSubsets;
    const bool use_boost_rng;
};


class LevMarq{
public:
    LevMarq();
    LevMarq(int nparams, int nerrs, CvTermCriteria criteria =
        cvTermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, DBL_EPSILON),
        bool completeSymmFlag = false);
    ~LevMarq();
    void init(int nparams, int nerrs, CvTermCriteria criteria =
        cvTermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, DBL_EPSILON),
        bool completeSymmFlag = false);
    bool update(const CvMat*& param, CvMat*& J, CvMat*& err);
    bool updateAlt(const CvMat*& param, CvMat*& JtJ, CvMat*& JtErr, double*& errNorm);

    void clear();
    void step();
    enum { DONE = 0, STARTED = 1, CALC_J = 2, CHECK_ERR = 3 };

    cv::Ptr<CvMat> mask;
    cv::Ptr<CvMat> prevParam;
    cv::Ptr<CvMat> param;
    cv::Ptr<CvMat> J;
    cv::Ptr<CvMat> err;
    cv::Ptr<CvMat> JtJ;
    cv::Ptr<CvMat> JtJN;
    cv::Ptr<CvMat> JtErr;
    cv::Ptr<CvMat> JtJV;
    cv::Ptr<CvMat> JtJW;
    double prevErrNorm, errNorm;
    int lambdaLg10;
    CvTermCriteria criteria;
    int state;
    int iters;
    bool completeSymmFlag;
};

_MTF_END_NAMESPACE
#endif