sift_gpu_wrapper.h

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/* This file is part of RGBDSLAM.
 * 
 * RGBDSLAM is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * RGBDSLAM is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.
 */


#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>
#include <QMutex>

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;                        
  mutable QMutex gpu_mutex;
};

#endif
//#endif