sift_gpu_wrapper.h

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/* This file was inspired by RGBDSLAM.
 */


#ifndef SIFT_GPU_FEATURE_DETECTOR_H
#define SIFT_GPU_FEATURE_DETECTOR_H

//#ifdef USE_SIFT_GPU
#include <opencv2/features2d/features2d.hpp>
#include <opencv/cv.h>
#include <SiftGPU/SiftGPU.h>

class SiftGPUWrapper {
public:
        virtual ~SiftGPUWrapper();

        void detect(const cv::Mat& image, cv::vector<cv::KeyPoint>& keypoints, std::vector<float>& descriptors, const cv::Mat& mask = cv::Mat()) const;

        int match(const std::vector<float>& descriptors1, int num1, const std::vector<float>& descriptors2, int num2, std::vector<cv::DMatch>* matches);

        static SiftGPUWrapper* getInstance();
        static void destroyInstance();

private:
        SiftGPUWrapper();

        void initializeMatcher();

        void cvMatToSiftGPU(const cv::Mat& image, unsigned char* siftImage) const;

        void writePGM(FILE *fp, unsigned char* data, int width, int height);

        static const int imageWidth = 640;          
        static const int imageHeight = 480;         

        static SiftGPUWrapper* instance;    
        SiftGPU* siftgpu;                           
        SiftMatchGPU *matcher;                      
        bool isMatcherInitialized;                  
        bool error;                                 
        unsigned char* data;                        
};

#endif
//#endif