Translation.h

#ifndef MTF_TRANSLATION_H
#define MTF_TRANSLATION_H

#include "ProjectiveBase.h"
#include "SSMEstimator.h"
#include "SSMEstimatorParams.h"

_MTF_BEGIN_NAMESPACE

struct TranslationParams : SSMParams{
    bool debug_mode;
    TranslationParams(const SSMParams *ssm_params,
        bool _debug_mode);
    TranslationParams(const TranslationParams *params = nullptr);
};

class TranslationEstimator : public SSMEstimator{
public:
    TranslationEstimator(int modelPoints, bool _use_boost_rng);

    int runKernel(const CvMat* m1, const CvMat* m2, CvMat* model) override;
    bool refine(const CvMat* m1, const CvMat* m2,
        CvMat* model, int maxIters) override;
protected:
    void computeReprojError(const CvMat* m1, const CvMat* m2,
        const CvMat* model, CvMat* error) override;
};

class Translation : public ProjectiveBase{
public:

    using ProjectiveBase::setCorners;

    typedef TranslationParams ParamType;
    typedef EstimatorParams::EstType EstType;
         
    Translation( const ParamType *params_in = nullptr);

    void setCorners(const Matrix24d &corners) override;
    void setState(const VectorXd &ssm_state) override;
    void compositionalUpdate(const VectorXd& state_update) override;

    void estimateWarpFromCorners(VectorXd &state_update, const Matrix24d &in_corners,
        const Matrix24d &out_corners) override;
    void cmptInitPixJacobian(MatrixXd &pix_jacobian_ssm, 
        const PixGradT &pix_jacobian_coord) override{
        validate_ssm_jacobian(pix_jacobian_ssm, pix_jacobian_coord);
        pix_jacobian_ssm = pix_jacobian_coord.leftCols<2>();
    }

    void cmptWarpedPixJacobian(MatrixXd &pix_jacobian_ssm,
        const PixGradT &pixel_grad) override {
        pix_jacobian_ssm = pixel_grad.leftCols<2>();
    }
    void cmptApproxPixJacobian(MatrixXd &pix_jacobian_ssm,
        const PixGradT &pixel_grad) override {
        pix_jacobian_ssm = pixel_grad.leftCols<2>();
    }
    // Jacobian is independent of the current values of the warp parameters
    void cmptPixJacobian(MatrixXd &pix_jacobian_ssm, 
        const PixGradT &pix_jacobian_coord) override{
        cmptInitPixJacobian(pix_jacobian_ssm, pix_jacobian_coord);
    }
    void cmptInitPixHessian(MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord,
        const PixGradT &pix_jacobian_coord) override{
        validate_ssm_hessian(pix_hess_ssm, pix_hess_coord, pix_jacobian_coord);
        pix_hess_ssm = pix_hess_coord;
    }
    void cmptWarpedPixHessian(MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord,
        const PixGradT &pix_jacobian_coord) override{
        validate_ssm_hessian(pix_hess_ssm, pix_hess_coord, pix_jacobian_coord);
        pix_hess_ssm = pix_hess_coord;
    }
    void cmptApproxPixHessian(MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord,
        const PixGradT &pix_jacobian_coord) override{
        validate_ssm_hessian(pix_hess_ssm, pix_hess_coord, pix_jacobian_coord);
        pix_hess_ssm = pix_hess_coord;
    }
    // Hessian is independent of the current values of the warp parameters
    void cmptPixHessian(MatrixXd &pix_hess_ssm, const PixHessT &pix_hess_coord,
        const PixGradT &pix_jacobian_coord) override{
        cmptInitPixHessian(pix_hess_ssm, pix_hess_coord, pix_jacobian_coord);
    }

    void getInitPixGrad(Matrix2Xd &ssm_grad, int pix_id) override{
        ssm_grad = Matrix2d::Identity();
    }

    void getCurrPixGrad(Matrix2Xd &ssm_grad, int pix_id) override{
        ssm_grad = Matrix2d::Identity();
    }

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

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

    void applyWarpToCorners(Matrix24d &warped_corners, const Matrix24d &orig_corners,
        const VectorXd &state_update) override;
    void applyWarpToPts(Matrix2Xd &warped_pts, const Matrix2Xd &orig_pts,
        const VectorXd &state_update) override;

    bool supportsSPI() override{ return true; }

    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 estimateStateSigma(VectorXd &state_sigma, double pix_sigma) override {
        state_sigma[0] = state_sigma[1] = pix_sigma;
    }
    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 getWarpFromState(Matrix3d &warp_mat, const VectorXd& ssm_state) override;
    void getStateFromWarp(VectorXd &state_vec, const Matrix3d& warp_mat) override;

protected:

    ParamType params;
    cv::Mat estimateTranslation(cv::InputArray _points1, cv::InputArray _points2,
        cv::OutputArray _mask, const SSMEstimatorParams &est_params);

    int estimateTranslation(const CvMat* in_pts, const CvMat* out_pts,
        CvMat* __H, CvMat* mask, const SSMEstimatorParams &est_params);
};

_MTF_END_NAMESPACE

#endif