patchgrid.h

// Class implements step (3.) in Algorithm 1 of the paper:
// I holds all patch objects on a specific scale, and organizes 1) the dense inverse search, 2) densification

#ifndef PATGRID_HEADER
#define PATGRID_HEADER

#include "patch.h"
#include "oflow.h" // For camera intrinsic and opt. parameter struct


namespace OFC
{
  
class PatGridClass
{
  
public:
  PatGridClass(const camparam* cpt_in,
               const camparam* cpo_in,
               const optparam* op_in);  

  ~PatGridClass();
  
  void InitializeGrid(const float * im_ao_in, const float * im_ao_dx_in, const float * im_ao_dy_in);
  void SetTargetImage(const float * im_bo_in, const float * im_bo_dx_in, const float * im_bo_dy_in);
  void InitializeFromCoarserOF(const float * flow_prev);
  
  void AggregateFlowDense(float *flowout) const;
  
  // Optimizes grid to convergence of each patch
  void Optimize(); 
  //Optimize each patch in grid for one iteration, visualize displacement vector, repeat
  //void OptimizeAndVisualize(const float sc_fct_tmp);  // needed for verbosity >= 3, DISVISUAL
  
  void SetComplGrid(PatGridClass *cg_in);
  
  inline const int GetNoPatches() const { return nopatches; }  
  inline const int GetNoph() const { return noph; }
  inline const int GetNopw() const { return nopw; }
 
  inline const Eigen::Vector2f GetRefPatchPos(int i) const { return pt_ref[i]; } // Get reference  patch position
  inline const Eigen::Vector2f GetQuePatchPos(int i) const { return pat[i]->GetPointPos(); } // Get target/query patch position
  inline const Eigen::Vector2f GetQuePatchDis(int i) const { return pt_ref[i]-pat[i]->GetPointPos(); } // Get query patch displacement from reference patch
  
private:
   
  const float * im_ao, * im_ao_dx, * im_ao_dy;
  const float * im_bo, * im_bo_dx, * im_bo_dy;
  
  Eigen::Map<const Eigen::MatrixXf> * im_ao_eg, * im_ao_dx_eg, * im_ao_dy_eg;
  Eigen::Map<const Eigen::MatrixXf> * im_bo_eg, * im_bo_dx_eg, * im_bo_dy_eg;

  const camparam* cpt;
  const camparam* cpo;
  const optparam* op;  
    
  int steps;
  int nopw;
  int noph;
  int nopatches;
  
  std::vector<OFC::PatClass*> pat; // Patch Objects
  std::vector<Eigen::Vector2f> pt_ref; // Midpoints for reference patches
  #if (SELECTMODE==1)
  std::vector<Eigen::Vector2f>            p_init; // starting parameters for query patches, use only 1 for depth, 2 for OF, all 4 for scene flow  
  #else  
  std::vector<Eigen::Matrix<float, 1, 1>> p_init; // starting parameters for query patches, use only 1 for depth, 2 for OF, all 4 for scene flow    
  #endif

  const PatGridClass * cg=nullptr;  
};


}

#endif /* PATGRID_HEADER */