TPS.h

#ifndef MTF_TPS_H
#define MTF_TPS_H

#define TPS_DIRECT_SAMPLES 0
#define TPS_NORMALIZED_BASIS false
#define TPS_N_CONTROL_PTS 2
#define TPS_DEBUG_MODE 0

#include "StateSpaceModel.h"

_MTF_BEGIN_NAMESPACE

struct TPSParams : SSMParams{
    int control_pts_resx, control_pts_resy;
    // resolution of control point grid
    // use normalized unit square points/corners as the initial points/corners
    bool normalized_init;   
    // generate samples by ading perturbations directly to the corners
    // and using DLT method to estimate the corresponding warp
    bool direct_samples;
    bool debug_mode;

    TPSParams(const SSMParams *ssm_params, bool _normalized_init,
        bool _direct_samples, bool _debug_mode);
    TPSParams(TPSParams *params = nullptr);
};
class TPS : public StateSpaceModel{
public: 
    typedef TPSParams ParamType;
    ParamType params;

    TPS(TPSParams *params_in=nullptr);
    void compositionalUpdate(const VectorXd& state_update) override;

    void cmptInitPixJacobian(MatrixXd &jacobian_prod, const PixGradT &am_jacobian) override;
    void cmptPixJacobian(MatrixXd &jacobian_prod, const PixGradT &am_jacobian) override;
    void cmptWarpedPixJacobian(MatrixXd &jacobian_prod,
        const PixGradT &pix_jacobian) override;

    void cmptApproxPixJacobian(MatrixXd &jacobian_prod,
        const PixGradT &pix_jacobian) override;
    void estimateWarpFromCorners(VectorXd &state_update, const CornersT &in_corners,
        const CornersT &out_corners) override;
    void cmptInitPixHessian(MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord,
        const PixGradT &pix_grad) override;

    void cmptWarpedPixHessian(MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord,
        const PixGradT &pix_grad) override;
    void cmptApproxPixHessian(MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord,
        const PixGradT &pix_grad) override;
    void cmptPixHessian(MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord,
        const PixGradT &pix_grad) override;

    void setCorners(const CornersT& corners) override;
    void estimateWarpFromPts(VectorXd &state_update, vector<uchar> &mask,
        const vector<cv::Point2f> &in_pts, const vector<cv::Point2f> &out_pts,
        int estimation_method, double ransac_reproj_thresh) override;

    void invertState(VectorXd& inv_state, const VectorXd& state) override;

    void updateGradPts(double grad_eps) override;
    void updateHessPts(double hess_eps) override;

    bool supportsSPI() override{ return true; }

    void getInitPixGrad(Matrix2Xd &jacobian_prod, int pix_id) override;
    void getCurrPixGrad(Matrix2Xd &jacobian_prod, int pix_id) override;

    void generatePerturbation(VectorXd &state_update) override;

    void getWarpFromState(Matrix3d &warp_mat, const VectorXd& ssm_state) override;
    void getStateFromWarp(VectorXd &state_vec, const Matrix3d& warp_mat) override;

private:
    PtsT norm_pts;
    CornersT norm_corners;
    PtsT corner_control_pts;
    MatrixX2dM tps_params;
    VectorXi ctrl_idx, ctrl_idy;

    CornersT rand_d;
    Vector2d rand_t;
    CornersT disturbed_corners;
};

_MTF_END_NAMESPACE

#endif