SumOfAMs.h

#ifndef MTF_SUM_OF_AMS_H
#define MTF_SUM_OF_AMS_H

#include "AppearanceModel.h"

_MTF_BEGIN_NAMESPACE

struct SumOfAMsDist : AMDist{
    SumOfAMsDist(const string &_name, const AMDist *_am1,
        const AMDist *_am2, double _am1_norm_factor, double _am2_norm_factor,
        unsigned int _am1_dist_feat_size, unsigned int _am2_dist_feat_size);
    double operator()(const double* a, const double* b,
        size_t size, double worst_dist = -1) const override;
private:
    const AMDist *am1, *am2;
    double am1_norm_factor, am2_norm_factor;
    unsigned int am1_dist_feat_size, am2_dist_feat_size;
};

// Sum of AMs
class SumOfAMs : public AppearanceModel{
public:
    typedef AMParams ParamType;
    typedef SumOfAMsDist DistType;

    SumOfAMs(AppearanceModel *_am1, AppearanceModel *_am2,
        const ParamType *_params = nullptr, const int _n_channels = 1);
    int inputType() const override{
        return am1->inputType() == am2->inputType() ? am1->inputType() : HETEROGENEOUS_INPUT;
    }
    void setCurrImg(const cv::Mat &cv_img) override;

    double getLikelihood() const override{
        return am1->getLikelihood()*am1_norm_factor +
            am2->getLikelihood()*am2_norm_factor;
    }

    //-------------------------------initialize functions------------------------------------//

    void initializePixVals(const PtsT& init_pts) override;
    void initializePixGrad(const GradPtsT &warped_offset_pts) override;
    void initializePixGrad(const PtsT &init_pts) override;
    void initializePixHess(const PtsT& init_pts, const HessPtsT &warped_offset_pts) override;
    void initializePixHess(const PtsT &init_pts) override;

    void initializeSimilarity() override;
    void initializeGrad() override;
    void initializeHess() override;

    //-----------------------------------------------------------------------------------//
    //-------------------------------update functions------------------------------------//
    //-----------------------------------------------------------------------------------//

    void updatePixVals(const PtsT& curr_pts) override;

    void updatePixGrad(const GradPtsT &warped_offset_pts) override;
    void updatePixGrad(const PtsT &curr_pts) override;

    void updatePixHess(const PtsT &curr_pts) override;
    void updatePixHess(const PtsT& curr_pts, const HessPtsT &warped_offset_pts) override;

    void updateSimilarity(bool prereq_only = true) override;
    void updateInitGrad() override;
    // nothing is done here since curr_grad is same as and shares memory with  curr_pix_diff
    void updateCurrGrad() override;

    void cmptInitHessian(MatrixXd &init_hessian, const MatrixXd &init_pix_jacobian) override;
    void cmptCurrHessian(MatrixXd &curr_hessian, const MatrixXd &curr_pix_jacobian) override;

    void cmptInitHessian(MatrixXd &init_hessian, const MatrixXd &init_pix_jacobian,
        const MatrixXd &init_pix_hessian) override;
    void cmptCurrHessian(MatrixXd &curr_hessian, const MatrixXd &curr_pix_jacobian,
        const MatrixXd &curr_pix_hessian) override;

    void cmptSelfHessian(MatrixXd &self_hessian, const MatrixXd &curr_pix_jacobian) override;
    void cmptSelfHessian(MatrixXd &self_hessian, const MatrixXd &curr_pix_jacobian,
        const MatrixXd &curr_pix_hessian) override;

    /*Support for FLANN library*/
    VectorXd curr_feat_vec;
    const DistType* getDistFunc() override{
        return new DistType(name, am1->getDistFunc(),
            am2->getDistFunc(), am1_norm_factor, am2_norm_factor,
            am1_dist_feat_size, am2_dist_feat_size);
    }
    void updateDistFeat(double* feat_addr) override;
    void initializeDistFeat() override;
    void updateDistFeat() override;
    const double* getDistFeat() override{ return curr_feat_vec.data(); }
    unsigned int getDistFeatSize() override;

protected:
    AppearanceModel *am1, *am2;
    double am1_norm_factor, am2_norm_factor;
    unsigned int am1_dist_feat_size, am2_dist_feat_size;
};

_MTF_END_NAMESPACE

#endif