ProgramGLSL.cpp

Go to the documentation of this file.

//      File:           ProgramGLSL.cpp
//      Author:         Changchang Wu
//      Description : GLSL related classes
//              class ProgramGLSL               A simple wrapper of GLSL programs
//              class ShaderBagGLSL             GLSL shaders for SIFT
//              class FilterGLSL                GLSL gaussian filters for SIFT
//
//      Copyright (c) 2007 University of North Carolina at Chapel Hill
//      All Rights Reserved
//
//      Permission to use, copy, modify and distribute this software and its
//      documentation for educational, research and non-profit purposes, without
//      fee, and without a written agreement is hereby granted, provided that the
//      above copyright notice and the following paragraph appear in all copies.
//      
//      The University of North Carolina at Chapel Hill make no representations
//      about the suitability of this software for any purpose. It is provided
//      'as is' without express or implied warranty. 
//
//      Please send BUG REPORTS to ccwu@cs.unc.edu
//

  
#include "GL/glew.h"
#include <string.h>
#include <stdio.h>
#include <iomanip>
#include <iostream>
#include <strstream>
#include <vector>
#include <algorithm>
#include <math.h>
using namespace std;

#include "GlobalUtil.h"
#include "ProgramGLSL.h"
#include "GLTexImage.h"
#include "ShaderMan.h"
#include "SiftGPU.h"

ProgramGLSL::ShaderObject::ShaderObject(int shadertype, const char * source, int filesource)
{


        _type = shadertype; 
        _compiled = 0;


        _shaderID = glCreateShader(shadertype);
        if(_shaderID == 0) return;
        
        if(source)
        {

                GLint                           code_length;
                if(filesource ==0)
                {
                        const char* code  = source;
                        code_length = strlen(code);
                        glShaderSource(_shaderID, 1, (const char **) &code, &code_length);
                }else
                {
                        char * code;
                        if((code_length= ReadShaderFile(source, code)) ==0) return;
                        glShaderSource(_shaderID, 1, (const char **) &code, &code_length);
                        delete code;
                }

                glCompileShader(_shaderID);

                CheckCompileLog();

                if(!_compiled)          std::cout << source;
        }




}

int ProgramGLSL::ShaderObject::ReadShaderFile(const char *sourcefile,  char*& code )
{
        code = NULL;
        FILE * file;
        int    len=0;

        if(sourcefile == NULL) return 0;

        file = fopen(sourcefile,"rt");
        if(file == NULL) return 0;

        
        fseek(file, 0, SEEK_END);
        len = ftell(file);
        rewind(file);
        if(len >1)
        {
                code = new  char[len+1];
                fread(code, sizeof( char), len, file);
                code[len] = 0;
        }else
        {
                len = 0;
        }

        fclose(file);

        return len;
        
}

void ProgramGLSL::ShaderObject::CheckCompileLog()
{

        GLint status;
        glGetShaderiv(_shaderID, GL_COMPILE_STATUS, &status);
        _compiled = (status ==GL_TRUE);

        if(_compiled == 0)      PrintCompileLog(std::cout);


}

ProgramGLSL::ShaderObject::~ShaderObject()
{
        if(_shaderID)   glDeleteShader(_shaderID);

}

int ProgramGLSL::ShaderObject::IsValidFragmentShader()
{
        return _type == GL_FRAGMENT_SHADER && _shaderID && _compiled;
}

int  ProgramGLSL::ShaderObject::IsValidVertexShader()
{
        return _type == GL_VERTEX_SHADER && _shaderID && _compiled;
}


void ProgramGLSL::ShaderObject::PrintCompileLog(ostream&os)
{
        GLint len = 0;  

        glGetShaderiv(_shaderID, GL_INFO_LOG_LENGTH , &len);
        if(len <=1) return;
        
        char * compileLog = new char[len+1];
        if(compileLog == NULL) return;

        glGetShaderInfoLog(_shaderID, len, &len, compileLog);
        

        os<<"Compile Log\n"<<compileLog<<"\n";

        delete compileLog;
}


ProgramGLSL::ProgramGLSL()
{
        _linked = 0;
        _programID = glCreateProgram();
}
ProgramGLSL::~ProgramGLSL()
{
        if(_programID)glDeleteProgram(_programID);
}
void ProgramGLSL::AttachShaderObject(ShaderObject &shader)
{
        if(_programID  && shader.IsValidShaderObject()) 
                glAttachShader(_programID, shader.GetShaderID());
}
void ProgramGLSL::DetachShaderObject(ShaderObject &shader)
{
        if(_programID  && shader.IsValidShaderObject()) 
                glDetachShader(_programID, shader.GetShaderID());
}
int ProgramGLSL::LinkProgram()
{
        _linked = 0;

        if(_programID==0) return 0;

        glLinkProgram(_programID);

        CheckLinkLog();

//      GlobalUtil::StartTimer("100 link test");
//      for(int i = 0; i<100; i++) glLinkProgram(_programID);
//      GlobalUtil::StopTimer();

        return _linked;
}

void ProgramGLSL::CheckLinkLog()
{
        GLint status;
        glGetProgramiv(_programID, GL_LINK_STATUS, &status);

        _linked = (status == GL_TRUE);

}


int ProgramGLSL::ValidateProgram()
{
        if(_programID && _linked)
        {
//              glValidateProgram(_programID);
//              glGetProgramiv(_programID, GL_VALIDATE_STATUS, &status);
//              return status == GL_TRUE;
                return 1;
        }
        else
                return 0;
}

void ProgramGLSL::PrintLinkLog(std::ostream &os)
{
        GLint len = 0;  

        glGetProgramiv(_programID, GL_INFO_LOG_LENGTH , &len);
        if(len <=1) return;
        
        char* linkLog = new char[len+1];
        if(linkLog == NULL) return;

        glGetProgramInfoLog(_programID, len, &len, linkLog);
        
        linkLog[len] = 0;

        if(strstr(linkLog, "failed"))
        {
                os<<linkLog + (linkLog[0] == ' '? 1:0)<<"\n";
                _linked = 0;
        }

        delete linkLog;
}

int ProgramGLSL::UseProgram()
{
        if(ValidateProgram())
        {
                glUseProgram(_programID);
                return true;
        }
        else
        {
                return false;
        }
}


ProgramGLSL::ProgramGLSL(const char *frag_source)
{
        _linked = 0;
        _programID = glCreateProgram();
        ShaderObject shader(GL_FRAGMENT_SHADER, frag_source);

        if(shader.IsValidFragmentShader())
        {
                AttachShaderObject(shader);
                LinkProgram();

                if(!_linked)
                {
                        //shader.PrintCompileLog(std::cout);
                        PrintLinkLog(std::cout);
                }
        }else
        {
                _linked = 0;
        }
        
}

/*
ProgramGLSL::ProgramGLSL(char*frag_source, char * vert_source)
{
        _used = 0;
        _linked = 0;
        _programID = glCreateProgram();
        ShaderObject shader(GL_FRAGMENT_SHADER, frag_source);
        ShaderObject vertex_shader(GL_VERTEX_SHADER, vert_source);
        AttachShaderObject(shader);
        AttachShaderObject(vertex_shader);
        LinkProgram();
        if(!_linked)
        {
                shader.PrintCompileLog(std::cout);
                vertex_shader.PrintCompileLog(std::cout);
                PrintLinkLog(std::cout);
                std::cout<<vert_source;
                std::cout<<frag_source;
        }

}
*/



void ProgramGLSL::ReLink()
{
        glLinkProgram(_programID);
}

int ProgramGLSL::IsNative()
{
        return _linked;
}

FilterGLSL::FilterGLSL(float sigma) 
{
        //pixel inside 3*sigma box
        int sz = int( ceil( GlobalUtil::_FilterWidthFactor * sigma -0.5) ) ;//
        int width = 2*sz + 1;

        //filter size truncation
        if(GlobalUtil::_MaxFilterWidth >0 && width > GlobalUtil::_MaxFilterWidth)
        {
                std::cout<<"Filter size truncated from "<<width<<" to "<<GlobalUtil::_MaxFilterWidth<<endl;
                sz = GlobalUtil::_MaxFilterWidth>>1;
                width = 2 * sz + 1;
        }

        int i;
        float * kernel = new float[width];
        float   rv = 1.0f/(sigma*sigma);
        float   v, ksum =0; 

        // pre-compute filter
        for( i = -sz ; i <= sz ; ++i) 
        {
                kernel[i+sz] =  v = exp(-0.5f * i * i *rv) ;
                ksum += v;
        }

        //normalize the kernel
        rv = 1.0f / ksum;
        for(i = 0; i< width ;i++) kernel[i]*=rv;
        //
        
    MakeFilterProgram(kernel, width);

        _size = sz;

        delete[] kernel; 
    if(GlobalUtil::_verbose && GlobalUtil::_timingL) std::cout<<"Filter: sigma = "<<sigma<<", size = "<<width<<"x"<<width<<endl;
}


void FilterGLSL::MakeFilterProgram(float kernel[], int width)
{
        if(GlobalUtil::_usePackedTex)
        {
                s_shader_h = CreateFilterHPK(kernel, width);
                s_shader_v = CreateFilterVPK(kernel, width);
        }else
        {
                s_shader_h = CreateFilterH(kernel, width);
                s_shader_v = CreateFilterV(kernel, width);
        }
}

ProgramGPU* FilterGLSL::CreateFilterH(float kernel[], int width)
{

        char buffer[10240];
        ostrstream out(buffer, 10240);
        out<<setprecision(8);

        out<<  "uniform sampler2DRect tex;";
        out<< "\nvoid main(void){ float intensity = 0.0 ;  vec2 pos;\n";

    int half_width = width / 2; 
        for(int i = 0; i< width; i++)
        {
                if(i == half_width)
                {

                        out<<"float or = texture2DRect(tex, gl_TexCoord[0].st).r;\n";
                        out<<"intensity+= or * "<<kernel[i]<<";\n";
                }else
                {
                        out<<"pos = gl_TexCoord[0].st + vec2(float("<< (i - half_width) <<") , 0);\n";
                        out<<"intensity+= "<<kernel[i]<<"*texture2DRect(tex, pos).r;\n";
                }
        }

        //copy original data to red channel
        out<<"gl_FragColor.r = or;\n"; 
        out<<"gl_FragColor.b  = intensity;}\n"<<'\0';

        return new ProgramGLSL( buffer);
}


ProgramGPU* FilterGLSL::CreateFilterV(float kernel[], int height)
{

        char buffer[10240];
        ostrstream out(buffer, 10240);
        out<<setprecision(8);

        out<<  "uniform sampler2DRect tex;";
        out<< "\nvoid main(void){ float intensity = 0.0;vec2 pos; \n";
    int half_height = height / 2; 
        for(int i = 0; i< height; i++)
        {

                if(i == half_height)
                {
                        out<<"vec2 orb = texture2DRect(tex, gl_TexCoord[0].st).rb;\n";
                        out<<"intensity+= orb.y * "<<kernel[i]<<";\n";

                }else
                {
                        out<<"pos = gl_TexCoord[0].st + vec2(0, float("<<(i - half_height) <<") );\n";
                        out<<"intensity+= texture2DRect(tex, pos).b * "<<kernel[i]<<";\n";
                }
                
        }

        out<<"gl_FragColor.b = orb.y;\n";
        out<<"gl_FragColor.g = intensity - orb.x;\n"; // difference of gaussian..
        out<<"gl_FragColor.r = intensity;}\n"<<'\0';
        
//      std::cout<<buffer<<endl;
        return new ProgramGLSL( buffer);
}



ProgramGPU* FilterGLSL::CreateFilterHPK(float kernel[], int width)
{
        //both h and v are packed...
        int i, j , xw, xwn;

        int halfwidth  = width >>1;
        float * pf = kernel + halfwidth;
        int nhpixel = (halfwidth+1)>>1; //how many neighbour pixels need to be looked up
        int npixel  = (nhpixel<<1)+1;//
        char buffer[10240];
        float weight[3];
        ostrstream out(buffer, 10240);
        out<<setprecision(8);

        out<<  "uniform sampler2DRect tex;";
        out<< "\nvoid main(void){ vec4 result = vec4(0, 0, 0, 0);\n";
        out<<"vec4 pc; vec2 coord; \n";
        for( i = 0 ; i < npixel ; i++)
        {
                out<<"coord = gl_TexCoord[0].xy + vec2(float("<<i-nhpixel<<"),0);\n";
                out<<"pc=texture2DRect(tex, coord);\n";
                if(GlobalUtil::_PreciseBorder)          out<<"if(coord.x < 0) pc = pc.rrbb;\n";
                //for each sub-pixel j  in center, the weight of sub-pixel k 
                xw = (i - nhpixel)*2;
                for( j = 0; j < 3; j++)
                {
                        xwn = xw  + j  -1;
                        weight[j] = xwn < -halfwidth || xwn > halfwidth? 0 : pf[xwn];
                }
                if(weight[1] == 0.0)
                {
                        out<<"result += vec4("<<weight[2]<<","<<weight[0]<<","<<weight[2]<<","<<weight[0]<<")*pc.grab;\n";
                }
                else
                {
                        out<<"result += vec4("<<weight[1]<<", "<<weight[0]<<", "<<weight[1]<<", "<<weight[0]<<")*pc.rrbb;\n";
                        out<<"result += vec4("<<weight[2]<<", "<<weight[1]<<", "<<weight[2]<<", "<<weight[1]<<")*pc.ggaa;\n";
                }       
        
        }
        out<<"gl_FragColor = result;}\n"<<'\0';
        
        return new ProgramGLSL( buffer);


}


ProgramGPU* FilterGLSL::CreateFilterVPK(float kernel[], int height)
{

        //both h and v are packed...
        int i, j, yw, ywn;

        int halfh  = height >>1;
        float * pf = kernel + halfh;
        int nhpixel = (halfh+1)>>1;     //how many neighbour pixels need to be looked up
        int npixel  = (nhpixel<<1)+1;//
        char buffer[10240];
        float weight[3];
        ostrstream out(buffer, 10240);
        out<<setprecision(8);

        out<<  "uniform sampler2DRect tex;";
        out<< "\nvoid main(void){ vec4 result = vec4(0, 0, 0, 0);\n";
        out<<"vec4 pc; vec2 coord;\n";
        for( i = 0 ; i < npixel ; i++)
        {
                out<<"coord = gl_TexCoord[0].xy + vec2(0, float("<<i-nhpixel<<"));\n";
                out<<"pc=texture2DRect(tex, coord);\n";
                if(GlobalUtil::_PreciseBorder)  out<<"if(coord.y < 0) pc = pc.rgrg;\n";

                //for each sub-pixel j  in center, the weight of sub-pixel k 
                yw = (i - nhpixel)*2;
                for( j = 0; j < 3; j++)
                {
                        ywn = yw + j  -1;
                        weight[j] = ywn < -halfh || ywn > halfh? 0 : pf[ywn];
                }
                if(weight[1] == 0.0)
                {
                        out<<"result += vec4("<<weight[2]<<","<<weight[2]<<","<<weight[0]<<","<<weight[0]<<")*pc.barg;\n";
                }else
                {
                        out<<"result += vec4("<<weight[1]<<","<<weight[1]<<","<<weight[0]<<","<<weight[0]<<")*pc.rgrg;\n";
                        out<<"result += vec4("<<weight[2]<<","<<weight[2]<<","<<weight[1]<<","<<weight[1]<<")*pc.baba;\n";
                }
        }
        out<<"gl_FragColor = result;}\n"<<'\0';

        return new ProgramGLSL( buffer);
}



ShaderBag::ShaderBag()
{
        s_debug = 0;
        s_orientation = 0;
        s_display_gaussian = 0;
        s_display_dog = 0;
        s_display_grad = 0;
        s_display_keys = 0;
        s_sampling = 0;
        s_grad_pass = 0;
        s_dog_pass = 0;
        s_keypoint = 0;
        s_genlist_init_tight = 0;
        s_genlist_init_ex = 0;
        s_genlist_histo = 0;
        s_genlist_start = 0;
        s_genlist_step = 0;
        s_genlist_end = 0;
        s_vertex_list = 0;
        s_descriptor_fp = 0;
        s_margin_copy = 0;
    f_gaussian_skip0 = NULL;
    f_gaussian_skip1 = NULL;
    f_gaussian_step = NULL;
    _gaussian_step_num = 0; 

}

ShaderBag::~ShaderBag()
{
        if(s_debug)delete s_debug;
        if(s_orientation)delete s_orientation;
        if(s_display_gaussian)delete s_display_gaussian;
        if(s_display_dog)delete s_display_dog;
        if(s_display_grad)delete s_display_grad;
        if(s_display_keys)delete s_display_keys;
        if(s_sampling)delete s_sampling;
        if(s_grad_pass)delete s_grad_pass;
        if(s_dog_pass) delete s_dog_pass;
        if(s_keypoint)delete s_keypoint;
        if(s_genlist_init_tight)delete s_genlist_init_tight;
        if(s_genlist_init_ex)delete s_genlist_init_ex;
        if(s_genlist_histo)delete s_genlist_histo;
        if(s_genlist_start)delete s_genlist_start;
        if(s_genlist_step)delete s_genlist_step;
        if(s_genlist_end)delete s_genlist_end;
        if(s_vertex_list)delete s_vertex_list;
        if(s_descriptor_fp)delete s_descriptor_fp;
        if(s_margin_copy) delete s_margin_copy;

    if(f_gaussian_skip1) delete f_gaussian_skip1;

    for(unsigned int i = 0; i < f_gaussian_skip0_v.size(); i++)
    {
            if(f_gaussian_skip0_v[i]) delete f_gaussian_skip0_v[i];
    }
    if(f_gaussian_step && _gaussian_step_num > 0) 
    {
            for(int i = 0; i< _gaussian_step_num; i++)
            {
                    delete f_gaussian_step[i];
            }
            delete[] f_gaussian_step;
    }
}


void ShaderBag::SelectInitialSmoothingFilter(int octave_min, SiftParam&param)
{
    float sigma = param.GetInitialSmoothSigma(octave_min);
    if(sigma == 0) 
    {
       f_gaussian_skip0 = NULL; 
    }else
    {
            for(unsigned int i = 0; i < f_gaussian_skip0_v.size(); i++)
            {
                    if(f_gaussian_skip0_v[i]->_id == octave_min)
                    {
                            f_gaussian_skip0 = f_gaussian_skip0_v[i];
                            return ;
                    }
            }
            FilterGLSL * filter = new FilterGLSL(sigma); 
            filter->_id = octave_min;
            f_gaussian_skip0_v.push_back(filter);
            f_gaussian_skip0 = filter; 
    }
}

void ShaderBag::CreateGaussianFilters(SiftParam&param)
{
        if(param._sigma_skip0>0.0f) 
        {
        FilterGLSL * filter;
                f_gaussian_skip0 = filter = new FilterGLSL(param._sigma_skip0);
                filter->_id = GlobalUtil::_octave_min_default; 
                f_gaussian_skip0_v.push_back(filter);
        }
        if(param._sigma_skip1>0.0f) 
        {
                f_gaussian_skip1 = new FilterGLSL(param._sigma_skip1);
        }

        f_gaussian_step = new FilterProgram*[param._sigma_num];
        for(int i = 0; i< param._sigma_num; i++)
        {
                f_gaussian_step[i] =  new FilterGLSL(param._sigma[i]);
        }
    _gaussian_step_num = param._sigma_num;
}


void ShaderBag::LoadDynamicShaders(SiftParam& param)
{
    LoadKeypointShader(param._dog_threshold, param._edge_threshold);
    LoadGenListShader(param._dog_level_num, 0);
    CreateGaussianFilters(param);
}


void ShaderBagGLSL::LoadFixedShaders()
{


        s_gray = new ProgramGLSL( 
                "uniform sampler2DRect rgbTex; void main(void){\n"
                "float intensity = dot(vec3(0.299, 0.587, 0.114), texture2DRect(rgbTex,gl_TexCoord[0].st ).rgb);\n"
                "gl_FragColor = vec4(intensity, intensity, intensity, 1.0);}");


        s_debug = new ProgramGLSL( "void main(void){gl_FragColor.rg =  gl_TexCoord[0].st;}");


        s_sampling = new ProgramGLSL(
                "uniform sampler2DRect tex; void main(void){gl_FragColor.rg= texture2DRect(tex, gl_TexCoord[0].st).rg;}");

        //
        s_grad_pass = new ProgramGLSL(
        "uniform sampler2DRect tex; void main ()\n"
        "{\n"
        "       vec4 v1, v2, gg;\n"
        "       vec4 cc  = texture2DRect(tex, gl_TexCoord[0].xy);\n"
        "       gg.x = texture2DRect(tex, gl_TexCoord[1].xy).r;\n"
        "       gg.y = texture2DRect(tex, gl_TexCoord[2].xy).r;\n"
        "       gg.z = texture2DRect(tex, gl_TexCoord[3].xy).r;\n"
        "       gg.w = texture2DRect(tex, gl_TexCoord[4].xy).r;\n"
        "       vec2 dxdy = (gg.yw - gg.xz); \n"
        "       float grad = 0.5*length(dxdy);\n"
        "       float theta = grad==0? 0.0: atan(dxdy.y, dxdy.x);\n"
        "       gl_FragData[0] = vec4(cc.rg, grad, theta);\n"
        "}\n\0");

        ProgramGLSL * program;
        s_margin_copy = program = new ProgramGLSL(
        "uniform sampler2DRect tex; uniform vec2 truncate;\n"
        "void main(){ gl_FragColor = texture2DRect(tex, min(gl_TexCoord[0].xy, truncate)); }");

        _param_margin_copy_truncate = glGetUniformLocation(*program, "truncate");


        GlobalUtil::_OrientationPack2 = 0;
        LoadOrientationShader();

        if(s_orientation == NULL)
        {
                //Load a simplified version if the right version is not supported
                s_orientation = program =  new ProgramGLSL(
                "uniform sampler2DRect fTex; uniform sampler2DRect oTex;\n"
        "       uniform float size; void main(){\n"
        "       vec4 cc = texture2DRect(fTex, gl_TexCoord[0].st);\n"
        "       vec4 oo = texture2DRect(oTex, cc.rg);\n"
        "       gl_FragColor.rg = cc.rg;\n"
        "       gl_FragColor.b = oo.a;\n"
        "       gl_FragColor.a = size;}");  

                _param_orientation_gtex = glGetUniformLocation(*program, "oTex");
                _param_orientation_size = glGetUniformLocation(*program, "size");

                GlobalUtil::_MaxOrientation = 0;
                GlobalUtil::_FullSupported = 0;
                std::cerr<<"Orientation simplified on this hardware"<<endl;
        }


        if(GlobalUtil::_DescriptorPPT) LoadDescriptorShader();
        if(s_descriptor_fp == NULL) 
        {
                GlobalUtil::_DescriptorPPT = GlobalUtil::_FullSupported = 0; 
                std::cerr<<"Descriptor ignored on this hardware"<<endl;
        }

        s_zero_pass = new ProgramGLSL("void main(){gl_FragColor = vec4(0.0);}");
}


void ShaderBagGLSL::LoadDisplayShaders()
{
        s_copy_key = new ProgramGLSL(
                "uniform sampler2DRect tex; void main(){\n"
        "gl_FragColor.rg= texture2DRect(tex, gl_TexCoord[0].st).rg; gl_FragColor.ba = vec2(0.0,1.0);    }");
        

        ProgramGLSL * program;
        s_vertex_list = program = new ProgramGLSL(
        "uniform vec4 sizes; uniform sampler2DRect tex;\n"
        "void main(void){\n"
        "float fwidth = sizes.y; float twidth = sizes.z; float rwidth = sizes.w; \n"
        "float index = 0.1*(fwidth*floor(gl_TexCoord[0].y) + gl_TexCoord[0].x);\n"
        "float px = mod(index, twidth);\n"
        "vec2 tpos= floor(vec2(px, index*rwidth))+0.5;\n"
        "vec4 cc = texture2DRect(tex, tpos );\n"
        "float size = 3.0f * cc.a; //sizes.x;// \n"
        "gl_FragColor.zw = vec2(0.0, 1.0);\n"
        "if(cc.x<=0 || cc.y <=0) {gl_FragColor.xy = cc.xy; }\n"
        "else {float type = fract(px);\n"
        "vec2 dxy; \n"
        "dxy.x = type < 0.1 ? 0.0 : ((type <0.5 || type > 0.9)? size : -size);\n"
        "dxy.y = type < 0.2 ? 0.0 : ((type < 0.3 || type > 0.7 )? -size :size); \n"
        "float s = sin(cc.b); float c = cos(cc.b); \n"
        "gl_FragColor.x = cc.x + c*dxy.x-s*dxy.y;\n"
        "gl_FragColor.y = cc.y + c*dxy.y+s*dxy.x;}\n}\n");


        _param_genvbo_size = glGetUniformLocation(*program, "sizes");
        s_display_gaussian =  new ProgramGLSL(
        "uniform sampler2DRect tex; void main(void){float r = texture2DRect(tex, gl_TexCoord[0].st).r;\n"
        "gl_FragColor = vec4(r, r, r, 1);}" );

        s_display_dog =  new ProgramGLSL(
        "uniform sampler2DRect tex; void main(void){float g = 0.5+(20.0*texture2DRect(tex, gl_TexCoord[0].st).g);\n"
        "gl_FragColor = vec4(g, g, g, 0.0);}" );

        s_display_grad = new ProgramGLSL(
                "uniform sampler2DRect tex; void main(void){\n"
    "   vec4 cc = texture2DRect(tex, gl_TexCoord[0].st);gl_FragColor = vec4(5.0* cc.bbb, 1.0);}");

        s_display_keys= new ProgramGLSL(
                "uniform sampler2DRect tex; void main(void){\n"
        "       vec4 cc = texture2DRect(tex, gl_TexCoord[0].st);\n"
        "       if(cc.r ==0.0) discard; gl_FragColor =  (cc.r==1.0? vec4(1.0, 0.0, 0,1.0):vec4(0.0,1.0,0.0,1.0));}");
}

void ShaderBagGLSL::LoadKeypointShader(float threshold, float edge_threshold)
{

        char buffer[10240];
        float threshold0 = threshold* (GlobalUtil::_SubpixelLocalization?0.8f:1.0f);    
        float threshold1 = threshold;
        float threshold2 = (edge_threshold+1)*(edge_threshold+1)/edge_threshold;
        ostrstream out(buffer, 10240);
        streampos pos;

        //tex(X)(Y)
        //X: (CLR) (CENTER 0, LEFT -1, RIGHT +1)  
        //Y: (CDU) (CENTER 0, DOWN -1, UP    +1) 

        out <<  "#define THRESHOLD0 " << threshold0 << "\n"
                        "#define THRESHOLD1 " << threshold1 << "\n"
                        "#define THRESHOLD2 " << threshold2 << "\n";

        out<<
        "uniform sampler2DRect tex, texU, texD; void main ()\n"
        "{\n"
        "       vec4 v1, v2, gg, temp;\n"
        "       vec2 TexRU = vec2(gl_TexCoord[2].x, gl_TexCoord[4].y); \n"
        "       vec4 cc  = texture2DRect(tex, gl_TexCoord[0].xy);\n"
        "       temp =  texture2DRect(tex, gl_TexCoord[1].xy);\n"
        "       v1.x =  temp.g;                 gg.x = temp.r;\n"
        "       temp = texture2DRect(tex, gl_TexCoord[2].xy) ;\n"
        "       v1.y = temp.g;                  gg.y = temp.r;\n"
        "       temp = texture2DRect(tex, gl_TexCoord[3].xy) ;\n"
        "       v1.z = temp.g;                  gg.z = temp.r;\n"
        "       temp = texture2DRect(tex, gl_TexCoord[4].xy) ;\n"
        "       v1.w = temp.g;                  gg.w = temp.r;\n"
        "       v2.x = texture2DRect(tex, gl_TexCoord[5].xy).g;\n"
        "       v2.y = texture2DRect(tex, gl_TexCoord[6].xy).g;\n"
        "       v2.z = texture2DRect(tex, gl_TexCoord[7].xy).g;\n"
        "       v2.w = texture2DRect(tex, TexRU.xy).g;\n"
        "       vec2 dxdy = (gg.yw - gg.xz); \n"
        "       float grad = 0.5*length(dxdy);\n"
        "       float theta = grad==0? 0.0: atan(dxdy.y, dxdy.x);\n"
        "       gl_FragData[0] = vec4(cc.rg, grad, theta);\n"

        //test against 8 neighbours
        //use variable to identify type of extremum
        //1.0 for local maximum and 0.5 for minimum
        <<
        "       float dog = 0.0; \n"
        "       gl_FragData[1] = vec4(0, 0, 0, 0); \n"
        "       dog = cc.g > THRESHOLD0 && all(greaterThan(cc.gggg, max(v1, v2)))?1.0: 0.0;\n"
        "       dog = cc.g < -THRESHOLD0 && all(lessThan(cc.gggg, min(v1, v2)))?0.5: dog;\n"
        "       if(dog == 0.0) return;\n";

        pos = out.tellp();
        //do edge supression first.. 
        //vector v1 is < (-1, 0), (1, 0), (0,-1), (0, 1)>
        //vector v2 is < (-1,-1), (-1,1), (1,-1), (1, 1)>

        out<<
        "       float fxx, fyy, fxy; \n"
        "       vec4 D2 = v1.xyzw - cc.gggg;\n"
        "       vec2 D4 = v2.xw - v2.yz;\n"
        "       fxx = D2.x + D2.y;\n"
        "       fyy = D2.z + D2.w;\n"
        "       fxy = 0.25*(D4.x + D4.y);\n"
        "       float fxx_plus_fyy = fxx + fyy;\n"
        "       float score_up = fxx_plus_fyy*fxx_plus_fyy; \n"
        "       float score_down = (fxx*fyy - fxy*fxy);\n"
        "       if( score_down <= 0 || score_up > THRESHOLD2 * score_down)return;\n";

        //...
        out<<" \n"
        "       vec2 D5 = 0.5*(v1.yw-v1.xz); \n"
        "       float fx = D5.x, fy = D5.y ; \n"
        "       float fs, fss , fxs, fys ; \n"
        "       vec2 v3; vec4 v4, v5, v6;\n"
        //read 9 pixels of upper level
        <<
        "       v3.x = texture2DRect(texU, gl_TexCoord[0].xy).g;\n"
        "       v4.x = texture2DRect(texU, gl_TexCoord[1].xy).g;\n"
        "       v4.y = texture2DRect(texU, gl_TexCoord[2].xy).g;\n"
        "       v4.z = texture2DRect(texU, gl_TexCoord[3].xy).g;\n"
        "       v4.w = texture2DRect(texU, gl_TexCoord[4].xy).g;\n"
        "       v6.x = texture2DRect(texU, gl_TexCoord[5].xy).g;\n"
        "       v6.y = texture2DRect(texU, gl_TexCoord[6].xy).g;\n"
        "       v6.z = texture2DRect(texU, gl_TexCoord[7].xy).g;\n"
        "       v6.w = texture2DRect(texU, TexRU.xy).g;\n"
        //compare with 9 pixels of upper level
        //read and compare with 9 pixels of lower level
        //the maximum case
        <<
        "       if(dog == 1.0)\n"
        "       {\n"
        "               if(cc.g < v3.x || any(lessThan(cc.gggg, v4)) ||any(lessThan(cc.gggg, v6)))return; \n"
        "               v3.y = texture2DRect(texD, gl_TexCoord[0].xy).g;\n"
        "               v5.x = texture2DRect(texD, gl_TexCoord[1].xy).g;\n"
        "               v5.y = texture2DRect(texD, gl_TexCoord[2].xy).g;\n"
        "               v5.z = texture2DRect(texD, gl_TexCoord[3].xy).g;\n"
        "               v5.w = texture2DRect(texD, gl_TexCoord[4].xy).g;\n"
        "               v6.x = texture2DRect(texD, gl_TexCoord[5].xy).g;\n"
        "               v6.y = texture2DRect(texD, gl_TexCoord[6].xy).g;\n"
        "               v6.z = texture2DRect(texD, gl_TexCoord[7].xy).g;\n"
        "               v6.w = texture2DRect(texD, TexRU.xy).g;\n"
        "               if(cc.g < v3.y || any(lessThan(cc.gggg, v5)) ||any(lessThan(cc.gggg, v6)))return; \n"
        "       }\n"
        //the minimum case
        <<
        "       else{\n"
        "       if(cc.g > v3.x || any(greaterThan(cc.gggg, v4)) ||any(greaterThan(cc.gggg, v6)))return; \n"
        "               v3.y = texture2DRect(texD, gl_TexCoord[0].xy).g;\n"
        "               v5.x = texture2DRect(texD, gl_TexCoord[1].xy).g;\n"
        "               v5.y = texture2DRect(texD, gl_TexCoord[2].xy).g;\n"
        "               v5.z = texture2DRect(texD, gl_TexCoord[3].xy).g;\n"
        "               v5.w = texture2DRect(texD, gl_TexCoord[4].xy).g;\n"
        "               v6.x = texture2DRect(texD, gl_TexCoord[5].xy).g;\n"
        "               v6.y = texture2DRect(texD, gl_TexCoord[6].xy).g;\n"
        "               v6.z = texture2DRect(texD, gl_TexCoord[7].xy).g;\n"
        "               v6.w = texture2DRect(texD, TexRU.xy).g;\n"
        "               if(cc.g > v3.y || any(greaterThan(cc.gggg, v5)) ||any(greaterThan(cc.gggg, v6)))return; \n"
        "       }\n";

        if(GlobalUtil::_SubpixelLocalization)

        // sub-pixel localization FragData1 = vec4(dog, 0, 0, 0); return;
        out <<
        "       fs = 0.5*( v3.x - v3.y );  \n"
        "       fss = v3.x + v3.y - cc.g - cc.g;\n"
        "       fxs = 0.25 * ( v4.y + v5.x - v4.x - v5.y);\n"
        "       fys = 0.25 * ( v4.w + v5.z - v4.z - v5.w);\n"
        
        // 
        // let dog difference be quatratic function  of dx, dy, ds; 
        // df(dx, dy, ds) = fx * dx + fy*dy + fs * ds + 
        //                                + 0.5 * ( fxx * dx * dx + fyy * dy * dy + fss * ds * ds)
        //                                + (fxy * dx * dy + fxs * dx * ds + fys * dy * ds)
        // (fx, fy, fs, fxx, fyy, fss, fxy, fxs, fys are the derivatives)
        
        //the local extremum satisfies
        // df/dx = 0, df/dy = 0, df/dz = 0
        
        //that is 
        // |-fx|     | fxx fxy fxs |   |dx|
        // |-fy|  =  | fxy fyy fys | * |dy|
        // |-fs|     | fxs fys fss |   |ds|
        // need to solve dx, dy, ds

        // Use Gauss elimination to solve the linear system
    <<
        "       vec3 dxys = vec3(0.0);          \n"
        "       vec4 A0, A1, A2 ;                       \n"
        "       A0 = vec4(fxx, fxy, fxs, -fx);  \n"
        "       A1 = vec4(fxy, fyy, fys, -fy);  \n"
        "       A2 = vec4(fxs, fys, fss, -fs);  \n"
        "       vec3 x3 = abs(vec3(fxx, fxy, fxs));             \n"
        "       float maxa = max(max(x3.x, x3.y), x3.z);        \n"
        "       if(maxa >= 1e-10 ) {                                            \n"
        "               if(x3.y ==maxa )                                                        \n"
        "               {                                                                                       \n"
        "                       vec4 TEMP = A1; A1 = A0; A0 = TEMP;     \n"
        "               }else if( x3.z == maxa )                                        \n"
        "               {                                                                                       \n"
        "                       vec4 TEMP = A2; A2 = A0; A0 = TEMP;     \n"
        "               }                                                                                       \n"
        "               A0 /= A0.x;                                                                     \n"
        "               A1 -= A1.x * A0;                                                        \n"
        "               A2 -= A2.x * A0;                                                        \n"
        "               vec2 x2 = abs(vec2(A1.y, A2.y));                \n"
        "               if( x2.y > x2.x )                                                       \n"
        "               {                                                                                       \n"
        "                       vec3 TEMP = A2.yzw;                                     \n"
        "                       A2.yzw = A1.yzw;                                                \n"
        "                       A1.yzw = TEMP;                                                  \n"
        "                       x2.x = x2.y;                                                    \n"
        "               }                                                                                       \n"
        "               if(x2.x >= 1e-10) {                                             \n"
        "                       A1.yzw /= A1.y;                                                         \n"
        "                       A2.yzw -= A2.y * A1.yzw;                                        \n"
        "                       if(abs(A2.z) >= 1e-10) {                \n"
        // compute dx, dy, ds: 
        <<
        "                               \n"
        "                               dxys.z = A2.w /A2.z;                                \n"
        "                               dxys.y = A1.w - dxys.z*A1.z;                        \n"
        "                               dxys.x = A0.w - dxys.z*A0.z - dxys.y*A0.y;      \n"

        //one more threshold which I forgot in versions prior to 286
        <<
        "                               bool dog_test = (abs(cc.g + 0.5*dot(vec3(fx, fy, fs), dxys ))<= THRESHOLD1) ;\n"
        "                               if(dog_test || any(greaterThan(abs(dxys), vec3(1.0)))) dog = 0;\n"
        "                       }\n"
        "               }\n"
        "       }\n"
    //keep the point when the offset is less than 1
        <<
        "       gl_FragData[1] = vec4( dog, dxys); \n";
        else

        out<<
        "       gl_FragData[1] =  vec4( dog, 0, 0, 0) ; \n";

        out<<
        "}\n" <<'\0';



        ProgramGLSL * program = new ProgramGLSL(buffer); 
        if(program->IsNative())
        {
                s_keypoint = program ;
                //parameter
        }else
        {
                delete program;
                out.seekp(pos);
                out << 
        "       gl_FragData[1] =  vec4(dog, 0, 0, 0) ;  \n"
        "}\n" <<'\0';
                s_keypoint = program = new ProgramGLSL(buffer);
                GlobalUtil::_SubpixelLocalization = 0;
                std::cerr<<"Detection simplified on this hardware"<<endl;
        }

        _param_dog_texu = glGetUniformLocation(*program, "texU");
        _param_dog_texd = glGetUniformLocation(*program, "texD");
}


void ShaderBagGLSL::SetDogTexParam(int texU, int texD)
{
        glUniform1i(_param_dog_texu, 1);
        glUniform1i(_param_dog_texd, 2);
}

void ShaderBagGLSL::SetGenListStepParam(int tex, int tex0)
{
        glUniform1i(_param_genlist_step_tex0, 1);       
}
void ShaderBagGLSL::SetGenVBOParam( float width, float fwidth,  float size)
{
        float sizes[4] = {size*3.0f, fwidth, width, 1.0f/width};
        glUniform4fv(_param_genvbo_size, 1, sizes);

}



void ShaderBagGLSL::UnloadProgram()
{
        glUseProgram(0);
} 



void ShaderBagGLSL::LoadGenListShader(int ndoglev, int nlev)
{
        ProgramGLSL * program;

        s_genlist_init_tight = new ProgramGLSL(
        "uniform sampler2DRect tex; void main (void){\n"
        "vec4 helper = vec4( texture2DRect(tex, gl_TexCoord[0].xy).r,  texture2DRect(tex, gl_TexCoord[1].xy).r,\n"
        "texture2DRect(tex, gl_TexCoord[2].xy).r, texture2DRect(tex, gl_TexCoord[3].xy).r);\n"
        "gl_FragColor = vec4(greaterThan(helper, vec4(0.0,0.0,0.0,0.0)));\n"
        "}");

        
        s_genlist_init_ex = program = new ProgramGLSL(
        "uniform sampler2DRect tex;uniform vec2 bbox;\n"
        "void main (void ){\n"
        "vec4 helper = vec4( texture2DRect(tex, gl_TexCoord[0].xy).r,  texture2DRect(tex, gl_TexCoord[1].xy).r,\n"
        "texture2DRect(tex, gl_TexCoord[2].xy).r, texture2DRect(tex, gl_TexCoord[3].xy).r);\n"
        "bvec4 helper2 = bvec4( \n"
        "all(lessThan(gl_TexCoord[0].xy , bbox)) && helper.x >0,\n"
        "all(lessThan(gl_TexCoord[1].xy , bbox)) && helper.y >0,\n"
        "all(lessThan(gl_TexCoord[2].xy , bbox)) && helper.z >0,\n"
        "all(lessThan(gl_TexCoord[3].xy , bbox)) && helper.w >0);\n"
        "gl_FragColor = vec4(helper2);\n"
        "}");
        _param_genlist_init_bbox = glGetUniformLocation( *program, "bbox");


        //reduction ...
        s_genlist_histo = new ProgramGLSL(
        "uniform sampler2DRect tex; void main (void){\n"
        "vec4 helper; vec4 helper2; \n"
        "helper = texture2DRect(tex, gl_TexCoord[0].xy); helper2.xy = helper.xy + helper.zw; \n"
        "helper = texture2DRect(tex, gl_TexCoord[1].xy); helper2.zw = helper.xy + helper.zw; \n"
        "gl_FragColor.rg = helper2.xz + helper2.yw;\n"
        "helper = texture2DRect(tex, gl_TexCoord[2].xy); helper2.xy = helper.xy + helper.zw; \n"
        "helper = texture2DRect(tex, gl_TexCoord[3].xy); helper2.zw = helper.xy + helper.zw; \n"
        "gl_FragColor.ba= helper2.xz+helper2.yw;\n"
        "}");


        //read of the first part, which generates tex coordinates 
        s_genlist_start= program =  LoadGenListStepShader(1, 1);
        _param_ftex_width= glGetUniformLocation(*program, "width");
        _param_genlist_start_tex0 = glGetUniformLocation(*program, "tex0");
        //stepping
        s_genlist_step = program = LoadGenListStepShader(0, 1);
        _param_genlist_step_tex= glGetUniformLocation(*program, "tex");
        _param_genlist_step_tex0= glGetUniformLocation(*program, "tex0");

}

void ShaderBagGLSL::SetMarginCopyParam(int xmax, int ymax)
{
        float truncate[2] = {xmax - 0.5f , ymax - 0.5f};
        glUniform2fv(_param_margin_copy_truncate, 1, truncate);
}

void ShaderBagGLSL::SetGenListInitParam(int w, int h)
{
        float bbox[2] = {w - 1.0f, h - 1.0f};
        glUniform2fv(_param_genlist_init_bbox, 1, bbox);
}
void ShaderBagGLSL::SetGenListStartParam(float width, int tex0)
{
        glUniform1f(_param_ftex_width, width);
}


ProgramGLSL* ShaderBagGLSL::LoadGenListStepShader(int start, int step)
{
        int i;
        char buffer[10240];
        // char chanels[5] = "rgba";
        ostrstream out(buffer, 10240);

        for(i = 0; i < step; i++) out<<"uniform sampler2DRect tex"<<i<<";\n";
        if(start)
        {
                out<<"uniform float width;\n";
                out<<"void main(void){\n";
                out<<"float  index = floor(gl_TexCoord[0].y) * width + floor(gl_TexCoord[0].x);\n";
                out<<"vec2 pos = vec2(0.5, 0.5);\n";
        }else
        {
                out<<"uniform sampler2DRect tex;\n";
                out<<"void main(void){\n";
                out<<"vec4 tc = texture2DRect( tex, gl_TexCoord[0].xy);\n";
                out<<"vec2 pos = tc.rg; float index = tc.b;\n";
        }
        out<<"vec2 sum;         vec4 cc;\n";


        if(step>0)
        {
                out<<"vec2 cpos = vec2(-0.5, 0.5);\t vec2 opos;\n";
                for(i = 0; i < step; i++)
                {

                        out<<"cc = texture2DRect(tex"<<i<<", pos);\n";
                        out<<"sum.x = cc.r + cc.g; sum.y = sum.x + cc.b;  \n";
                        out<<"if (index <cc.r){ opos = cpos.xx;}\n";
                        out<<"else if(index < sum.x ) {opos = cpos.yx; index -= cc.r;}\n";
                        out<<"else if(index < sum.y ) {opos = cpos.xy; index -= sum.x;}\n";
                        out<<"else {opos = cpos.yy; index -= sum.y;}\n";
                        out<<"pos = (pos + pos + opos);\n";
                }
        }
        out<<"gl_FragColor = vec4(pos, index, 1.0);\n";
        out<<"}\n"<<'\0';
        return new ProgramGLSL(buffer);
}


void ShaderBagGLSL::LoadOrientationShader()
{
        char buffer[10240];
        ostrstream out(buffer,10240);

        if(GlobalUtil::_IsNvidia)
        {
        out <<  "#pragma optionNV(ifcvt none)\n"
                        "#pragma optionNV(unroll all)\n";
        }

        out<<"\n"
        "#define GAUSSIAN_WF "<<GlobalUtil::_OrientationGaussianFactor<<" \n"
        "#define SAMPLE_WF ("<<GlobalUtil::_OrientationWindowFactor<< " )\n"
        "#define ORIENTATION_THRESHOLD "<< GlobalUtil::_MulitiOrientationThreshold << "\n"
        "uniform sampler2DRect tex;                                     \n"
        "uniform sampler2DRect gradTex;                         \n"
        "uniform vec4 size;                                             \n"
        << (GlobalUtil::_SubpixelLocalization || GlobalUtil::_KeepExtremumSign? 
        "       uniform sampler2DRect texS;     \n" : " ")
        <<
        "void main()            \n"
        "{                                                                                                      \n"
        "       vec4 bins[10];                                                          \n"
        "       bins[0] = vec4(0.0);bins[1] = vec4(0.0);bins[2] = vec4(0.0);    \n"
        "       bins[3] = vec4(0.0);bins[4] = vec4(0.0);bins[5] = vec4(0.0);    \n"
        "       bins[6] = vec4(0.0);bins[7] = vec4(0.0);bins[8] = vec4(0.0);    \n"
        "       vec4 loc = texture2DRect(tex, gl_TexCoord[0].xy);       \n"
        "       vec2 pos = loc.xy;              \n"
        "       bool orientation_mode = (size.z != 0);                  \n"
        "       float sigma = orientation_mode? abs(size.z) : loc.w; \n";
        if(GlobalUtil::_SubpixelLocalization || GlobalUtil::_KeepExtremumSign)
        {
                out<<
        "       if(orientation_mode){\n"
        "               vec4 offset = texture2DRect(texS, pos);\n"
        "               pos.xy = pos.xy + offset.yz; \n"
        "               sigma = sigma * pow(size.w, offset.w);\n"
        "               #if "<< GlobalUtil::_KeepExtremumSign << "\n"
        "                       if(offset.x < 0.6) sigma = -sigma; \n"
        "               #endif\n"
        "       }\n";
        }
        out<<
        "       //bool fixed_orientation = (size.z < 0);                \n"
        "       if(size.z < 0) {gl_FragData[0] = vec4(pos, 0, sigma); return;}"
        "       float gsigma = sigma * GAUSSIAN_WF;                             \n"
        "       vec2 win = abs(vec2(sigma)) * (SAMPLE_WF * GAUSSIAN_WF);        \n"
        "       vec2 dim = size.xy;                                                     \n"
        "       float dist_threshold = win.x*win.x+0.5;                 \n"
        "       float factor = -0.5/(gsigma*gsigma);                    \n"
        "       vec4 sz;        vec2 spos;                                              \n"
        "       //if(any(pos.xy <= 1)) discard;                                 \n"
        "       sz.xy = max( pos - win, vec2(1,1));                     \n"
        "       sz.zw = min( pos + win, dim-2);                         \n"
        "       sz = floor(sz)+0.5;";
        //loop to get the histogram

        out<<"\n"
        "       for(spos.y = sz.y; spos.y <= sz.w;      spos.y+=1.0)                            \n"
        "       {                                                                                                                               \n"
        "               for(spos.x = sz.x; spos.x <= sz.z;      spos.x+=1.0)                    \n"
        "               {                                                                                                                       \n"
        "                       vec2 offset = spos - pos;                                                               \n"
        "                       float sq_dist = dot(offset,offset);                                             \n"
        "                       if( sq_dist < dist_threshold){                                                  \n"
        "                               vec4 cc = texture2DRect(gradTex, spos);                         \n"
        "                               float grad = cc.b;      float theta = cc.a;                             \n"
        "                               float idx = floor(degrees(theta)*0.1);                          \n"
        "                               if(idx < 0 ) idx += 36;                                                                 \n"
        "                               float weight = grad*exp(sq_dist * factor);                              \n"
        "                               float vidx = fract(idx * 0.25) * 4.0;//mod(idx, 4.0) ;                                                  \n"
        "                               vec4 inc = weight*vec4(equal(vec4(vidx), vec4(0.0,1.0,2.0,3.0)));";

        if(GlobalUtil::_UseDynamicIndexing && GlobalUtil::_IsNvidia)
        {
                //dynamic indexing may not be faster
                out<<"\n"
        "                               int iidx = int((idx*0.25));     \n"
        "                               bins[iidx]+=inc;                                        \n"
        "                       }                                                                               \n"
        "               }                                                                                       \n"
        "       }";

        }else
        {
                //nvfp40 still does not support dynamic array indexing
                //unrolled binary search...
                out<<"\n"
        "                               if(idx < 16)                                                    \n"
        "                               {                                                                               \n"
        "                                       if(idx < 8)                                                     \n"
        "                                       {                                                                       \n"
        "                                               if(idx < 4)     {       bins[0]+=inc;}  \n"
        "                                               else            {       bins[1]+=inc;}  \n"
        "                                       }else                                                           \n"
        "                                       {                                                                       \n"
        "                                               if(idx < 12){   bins[2]+=inc;}  \n"
        "                                               else            {       bins[3]+=inc;}  \n"
        "                                       }                                                                       \n"
        "                               }else if(idx < 32)                                              \n"
        "                               {                                                                               \n"
        "                                       if(idx < 24)                                            \n"
        "                                       {                                                                       \n"
        "                                               if(idx <20)     {       bins[4]+=inc;}  \n"
        "                                               else            {       bins[5]+=inc;}  \n"
        "                                       }else                                                           \n"
        "                                       {                                                                       \n"
        "                                               if(idx < 28){   bins[6]+=inc;}  \n"
        "                                               else            {       bins[7]+=inc;}  \n"
        "                                       }                                                                       \n"
        "                               }else                                           \n"
        "                               {                                                                               \n"
        "                                       bins[8]+=inc;                                           \n"
        "                               }                                                                               \n"
        "                       }                                                                               \n"
        "               }                                                                                       \n"
        "       }";

        }

        WriteOrientationCodeToStream(out);

        ProgramGLSL * program = new ProgramGLSL(buffer);
        if(program->IsNative())
        {
                s_orientation = program ;
                _param_orientation_gtex = glGetUniformLocation(*program, "gradTex");
                _param_orientation_size = glGetUniformLocation(*program, "size");
                _param_orientation_stex = glGetUniformLocation(*program, "texS");
        }else
        {
                delete program;
        }
}


void ShaderBagGLSL::WriteOrientationCodeToStream(std::ostream& out)
{
        //smooth histogram and find the largest
/*
        smoothing kernel:        (1 3 6 7 6 3 1 )/27
        the same as 3 pass of (1 1 1)/3 averaging
        maybe better to use 4 pass on the vectors...
*/


        //the inner loop on different array numbers is always unrolled in fp40

        //bug fixed here:)
        out<<"\n"
        "       //mat3 m1 = mat3(1, 0, 0, 3, 1, 0, 6, 3, 1)/27.0;  \n"
        "       mat3 m1 = mat3(1, 3, 6, 0, 1, 3,0, 0, 1)/27.0;  \n"
        "       mat4 m2 = mat4(7, 6, 3, 1, 6, 7, 6, 3, 3, 6, 7, 6, 1, 3, 6, 7)/27.0;\n"
        "       #define FILTER_CODE(i) {                                                \\\n"
        "                       vec4 newb       =       (bins[i]* m2);                  \\\n"
        "                       newb.xyz        +=      ( prev.yzw * m1);               \\\n"
        "                       prev = bins[i];                                                 \\\n"
        "                       newb.wzy        +=      ( bins[i+1].zyx *m1);   \\\n"
        "                       bins[i] = newb;}\n"
        "       for (int j=0; j<2; j++)                                                         \n"
        "       {                                                                                               \n"
        "               vec4 prev  = bins[8];                                           \n"
        "               bins[9]          = bins[0];                                             \n";

        if(GlobalUtil::_IsNvidia)
        {
                out<<
        "               for (int i=0; i<9; i++)                                                 \n"
        "               {                                                                                               \n"
        "                       FILTER_CODE(i);                                                         \n"
        "               }                                                                                               \n"
        "       }";

        }else
        {
                //manually unroll the loop for ATI.
                out << 
        "          FILTER_CODE(0);\n"
        "          FILTER_CODE(1);\n"
        "          FILTER_CODE(2);\n"
        "          FILTER_CODE(3);\n"
        "          FILTER_CODE(4);\n"
        "          FILTER_CODE(5);\n"
        "          FILTER_CODE(6);\n"
        "          FILTER_CODE(7);\n"
        "          FILTER_CODE(8);\n"
        "       }\n";
        }
        //find the maximum voting
        out<<"\n"
        "       vec4 maxh; vec2 maxh2;  \n"
        "       vec4 maxh4 = max(max(max(max(max(max(max(max(bins[0], bins[1]), bins[2]), \n"
        "                       bins[3]), bins[4]), bins[5]), bins[6]), bins[7]), bins[8]);\n"
        "       maxh2 = max(maxh4.xy, maxh4.zw); maxh = vec4(max(maxh2.x, maxh2.y));";

        char *testpeak_code;
        char *savepeak_code;

        //save two/three/four orientations with the largest votings?

        if(GlobalUtil::_MaxOrientation>1)
        {
                out<<"\n"
                "       vec4 Orientations = vec4(0, 0, 0, 0);                           \n"
                "       vec4 weights = vec4(0,0,0,0);           ";      
                
                testpeak_code = "\\\n"
                "       {test = greaterThan(bins[i], hh);";

                //save the orientations in weight-decreasing order
                if(GlobalUtil::_MaxOrientation ==2)
                {
                savepeak_code = "\\\n"
                "                       if(weight <=weights.g){}\\\n"
                "                       else if(weight >weights.r)\\\n"
                "                       {weights.rg = vec2(weight, weights.r); Orientations.rg = vec2(th, Orientations.r);}\\\n"
                "                       else {weights.g = weight; Orientations.g = th;}";
                }else if(GlobalUtil::_MaxOrientation ==3)
                {
                savepeak_code = "\\\n"
                "                       if(weight <=weights.b){}\\\n"
                "                       else if(weight >weights.r)\\\n"
                "                       {weights.rgb = vec3(weight, weights.rg); Orientations.rgb = vec3(th, Orientations.rg);}\\\n"
                "                       else if(weight >weights.g)\\\n"
                "                       {weights.gb = vec2(weight, weights.g); Orientations.gb = vec2(th, Orientations.g);}\\\n"
                "                       else {weights.b = weight; Orientations.b = th;}";
                }else
                {
                savepeak_code = "\\\n"
                "                       if(weight <=weights.a){}\\\n"
                "                       else if(weight >weights.r)\\\n"
                "                       {weights = vec4(weight, weights.rgb); Orientations = vec4(th, Orientations.rgb);}\\\n"
                "                       else if(weight >weights.g)\\\n"
                "                       {weights.gba = vec3(weight, weights.gb); Orientations.gba = vec3(th, Orientations.gb);}\\\n"
                "                       else if(weight >weights.b)\\\n"
                "                       {weights.ba = vec2(weight, weights.b); Orientations.ba = vec2(th, Orientations.b);}\\\n"
                "                       else {weights.a = weight; Orientations.a = th;}";
                }

        }else
        {
                out<<"\n"
                "       float Orientation;                              ";
                testpeak_code ="\\\n"
                "       if(npeaks<=0.0){\\\n"
                "       test = equal(bins[i], maxh)     ;";
                savepeak_code="\\\n"
                "                       npeaks++;       \\\n"
                "                       Orientation = th;";

        }
        //find the peaks
        out <<"\n"
        "       #define FINDPEAK(i, k)" <<testpeak_code<<"\\\n"
        "       if( any ( test) )                                                       \\\n"
        "       {                                                                                       \\\n"
        "               if(test.r && bins[i].x > prevb && bins[i].x > bins[i].y )       \\\n"
        "               {                                                                                       \\\n"
        "                   float       di = -0.5 * (bins[i].y-prevb) / (bins[i].y+prevb-bins[i].x - bins[i].x) ; \\\n"
        "                   float       th = (k+di+0.5);        float weight = bins[i].x;"
                                <<savepeak_code<<"\\\n"
        "               }\\\n"
        "               else if(test.g && all( greaterThan(bins[i].yy , bins[i].xz)) )  \\\n"
        "               {                                                                                       \\\n"
        "                   float       di = -0.5 * (bins[i].z-bins[i].x) / (bins[i].z+bins[i].x-bins[i].y- bins[i].y) ; \\\n"
        "                   float       th = (k+di+1.5);        float weight = bins[i].y;                               "
                                <<savepeak_code<<"      \\\n"
        "               }\\\n"
        "               if(test.b && all( greaterThan( bins[i].zz , bins[i].yw)) )      \\\n"
        "               {                                                                                       \\\n"
        "                   float       di = -0.5 * (bins[i].w-bins[i].y) / (bins[i].w+bins[i].y-bins[i].z- bins[i].z) ; \\\n"
        "                   float       th = (k+di+2.5);        float weight = bins[i].z;                               "
                                <<savepeak_code<<"      \\\n"
        "               }\\\n"
        "               else if(test.a && bins[i].w > bins[i].z && bins[i].w > bins[i+1].x )    \\\n"
        "               {                                                                                       \\\n"
        "                   float       di = -0.5 * (bins[i+1].x-bins[i].z) / (bins[i+1].x+bins[i].z-bins[i].w - bins[i].w) ; \\\n"
        "                   float       th = (k+di+3.5);        float weight = bins[i].w;                               "
                                <<savepeak_code<<"      \\\n"
        "               }\\\n"
        "       }}\\\n"
        "       prevb = bins[i].w;";
        //the following loop will be unrolled anyway in fp40,
        //taking more than 1000 instrucsions..
        //....
        if(GlobalUtil::_IsNvidia)
        {
        out<<"\n"
        "       vec4 hh = maxh * ORIENTATION_THRESHOLD; bvec4 test;     \n"
        "       bins[9] = bins[0];                                                              \n"
        "       float npeaks = 0.0, k = 0;                                              \n"
        "       float prevb     = bins[8].w;                                            \n"
        "       for (int i = 0; i <9 ; i++)                                             \n"
        "       {\n"
        "               FINDPEAK(i, k);\n"
        "               k = k + 4.0;    \n"
        "       }";
        }else
        {
                //loop unroll for ATI.
        out <<"\n"
        "       vec4 hh = maxh * ORIENTATION_THRESHOLD; bvec4 test;\n"
        "       bins[9] = bins[0];                                                              \n"
        "       float npeaks = 0.0;                                                             \n"
        "       float prevb     = bins[8].w;                                            \n"
        "       FINDPEAK(0, 0.0);\n"
        "       FINDPEAK(1, 4.0);\n"
        "       FINDPEAK(2, 8.0);\n"
        "       FINDPEAK(3, 12.0);\n"
        "       FINDPEAK(4, 16.0);\n"
        "       FINDPEAK(5, 20.0);\n"
        "       FINDPEAK(6, 24.0);\n"
        "       FINDPEAK(7, 28.0);\n"
        "       FINDPEAK(8, 32.0);\n";
        }
        //WRITE output
        if(GlobalUtil::_MaxOrientation>1)
        {
        out<<"\n"
        "       if(orientation_mode){\n"
        "               npeaks = dot(vec4(1,1,"
                        <<(GlobalUtil::_MaxOrientation>2 ? 1 : 0)<<","
                        <<(GlobalUtil::_MaxOrientation >3? 1 : 0)<<"), vec4(greaterThan(weights, hh)));\n"
        "               gl_FragData[1] = radians((Orientations )*10.0);\n"
        "               gl_FragData[0] = vec4(pos, npeaks, sigma);\n"
        "       }else{\n"
        "               gl_FragData[0] = vec4(pos, radians((Orientations.x)*10.0), sigma);\n"
        "       }\n";
        }else
        {
        out<<"\n"
        "        gl_FragData[0] = vec4(pos, radians((Orientation.x)*10.0), sigma);\n";
        }
        //end
        out<<"\n"
        "}\n"<<'\0';


}

void ShaderBagGLSL::SetSimpleOrientationInput(int oTex, float sigma, float sigma_step)
{
        glUniform1i(_param_orientation_gtex, 1);
        glUniform1f(_param_orientation_size, sigma);
}




void ShaderBagGLSL::SetFeatureOrientationParam(int gtex, int width, int height, float sigma, int stex, float step)
{
        glUniform1i(_param_orientation_gtex, 1);        

        if((GlobalUtil::_SubpixelLocalization || GlobalUtil::_KeepExtremumSign)&& stex)
        {
                //specify texutre for subpixel subscale localization
                glUniform1i(_param_orientation_stex, 2);
        }

        float size[4];
        size[0] = (float)width;
        size[1] = (float)height;
        size[2] = sigma;
        size[3] = step;
        glUniform4fv(_param_orientation_size, 1, size);

}


void ShaderBagGLSL::LoadDescriptorShaderF2()
{
        //one shader outpout 128/8 = 16 , each fragout encodes 4
        //const double twopi = 2.0*3.14159265358979323846;
        //const double rpi  = 8.0/twopi;
        char buffer[10240];
        ostrstream out(buffer, 10240);

        out<<setprecision(8);

        out<<"\n"
        "#define M_PI 3.14159265358979323846\n"
        "#define TWO_PI (2.0*M_PI)\n"
        "#define RPI 1.2732395447351626861510701069801\n"
        "#define WF  size.z\n"
        "uniform sampler2DRect tex;                             \n"
        "uniform sampler2DRect gradTex;                 \n"
        "uniform vec4 dsize;                                            \n"
        "uniform vec3 size;                                             \n"
        "void main()            \n"
        "{\n"
        "       vec2 dim        = size.xy;      //image size                    \n"
        "       float index = dsize.x*floor(gl_TexCoord[0].y * 0.5) + gl_TexCoord[0].x;\n"
        "       float idx = 8.0 * fract(index * 0.125) + 8.0 * floor(2.0 * fract(gl_TexCoord[0].y * 0.5));              \n"
        "       index = floor(index*0.125) + 0.49;  \n"
        "       vec2 coord = floor( vec2( mod(index, dsize.z), index*dsize.w)) + 0.5 ;\n"
        "       vec2 pos = texture2DRect(tex, coord).xy;                \n"
        "       if(any(lessThanEqual(pos.xy,  vec2(1.0))) || any(greaterThanEqual(pos.xy, dim-1.0)))// discard; \n"
        "       { gl_FragData[0] = gl_FragData[1] = vec4(0.0); return; }\n"
        "       float  anglef = texture2DRect(tex, coord).z;\n"
        "       if(anglef > M_PI) anglef -= TWO_PI;\n"
        "       float sigma = texture2DRect(tex, coord).w; \n"
        "       float spt  = abs(sigma * WF);   //default to be 3*sigma \n";

        //rotation
        out<<
        "       vec4 cscs, rots;                                                                \n"
        "       cscs.y = sin(anglef);   cscs.x = cos(anglef);   \n"
        "       cscs.zw = - cscs.xy;                                                    \n"
        "       rots = cscs /spt;                                                               \n"
        "       cscs *= spt; \n";

        //here cscs is actually (cos, sin, -cos, -sin) * (factor: 3)*sigma
        //and rots is  (cos, sin, -cos, -sin ) /(factor*sigma)
        //devide the 4x4 sift grid into 16 1x1 block, and each corresponds to a shader thread
        //To use linear interoplation, 1x1 is increased to 2x2, by adding 0.5 to each side

        out<<
        "vec4 temp; vec2 pt, offsetpt;                          \n"
        "       /*the fraction part of idx is .5*/                      \n"
        "       offsetpt.x = 4.0* fract(idx*0.25) - 2.0;                                \n"
        "       offsetpt.y = floor(idx*0.25) - 1.5;                     \n"
        "       temp = cscs.xwyx*offsetpt.xyxy;                         \n"
        "       pt = pos + temp.xz + temp.yw;                           \n";
        
        //get a horizontal bounding box of the rotated rectangle
        out<<
        "       vec2 bwin = abs(cscs.xy);                                       \n"
        "       float bsz = bwin.x + bwin.y;                                    \n"
        "       vec4 sz;                                        \n"
        "       sz.xy = max(pt - vec2(bsz), vec2(1,1));\n"
        "       sz.zw = min(pt + vec2(bsz), dim - 2);           \n"
        "       sz = floor(sz)+0.5;"; //move sample point to pixel center
        //get voting for two box

        out<<"\n"
        "       vec4 DA, DB; vec2 spos;                 \n"
        "       DA = DB  = vec4(0, 0, 0, 0);            \n"
        "       for(spos.y = sz.y; spos.y <= sz.w;      spos.y+=1.0)                            \n"
        "       {                                                                                                                               \n"
        "               for(spos.x = sz.x; spos.x <= sz.z;      spos.x+=1.0)                    \n"
        "               {                                                                                                                       \n"
        "                       vec2 diff = spos - pt;                                                          \n"
        "                       temp = rots.xywx * diff.xyxy;\n"
        "                       vec2 nxy = (temp.xz + temp.yw); \n"
        "                       vec2 nxyn = abs(nxy);                   \n"
        "                       if(all( lessThan(nxyn, vec2(1.0)) ))\n"
        "                       {\n"
        "                               vec4 cc = texture2DRect(gradTex, spos);                                         \n"
        "                               float mod = cc.b;       float angle = cc.a;                                     \n"
        "                               float theta0 = RPI * (anglef - angle);                          \n"
        "                               float theta = theta0 < 0.0? theta0 + 8.0 : theta0;;\n"
        "                               diff = nxy + offsetpt.xy;                                                               \n"
        "                               float ww = exp(-0.125*dot(diff, diff));\n"
        "                               vec2 weights = 1 - nxyn;\n"
        "                               float weight = weights.x * weights.y *mod*ww; \n"
        "                               float theta1 = floor(theta); \n"
        "                               float weight2 = (theta - theta1) * weight;\n"
        "                               float weight1 = weight - weight2;\n"
        "                               DA += vec4(equal(vec4(theta1),  vec4(0, 1, 2, 3)))*weight1;\n"
        "                               DA += vec4(equal(vec4(theta1),  vec4(7, 0, 1, 2)))*weight2; \n"
        "                               DB += vec4(equal(vec4(theta1),  vec4(4, 5, 6, 7)))*weight1;\n"
        "                               DB += vec4(equal(vec4(theta1),  vec4(3, 4, 5, 6)))*weight2; \n"
        "                       }\n"
        "               }\n"
        "       }\n";

        out<<
        "        gl_FragData[0] = DA; gl_FragData[1] = DB;\n"
        "}\n"<<'\0';

        ProgramGLSL * program =  new ProgramGLSL(buffer); 

        if(program->IsNative())
        {
                s_descriptor_fp = program ;
                _param_descriptor_gtex = glGetUniformLocation(*program, "gradTex");
                _param_descriptor_size = glGetUniformLocation(*program, "size");
                _param_descriptor_dsize = glGetUniformLocation(*program, "dsize");
        }else
        {
                delete program;
        }


}

void ShaderBagGLSL::LoadDescriptorShader()
{
        GlobalUtil::_DescriptorPPT = 16;
        LoadDescriptorShaderF2();
}


void ShaderBagGLSL::SetFeatureDescirptorParam(int gtex, int otex, float dwidth, float fwidth,  float width, float height, float sigma)
{
        glUniform1i(_param_descriptor_gtex, 1); 

        float dsize[4] ={dwidth, 1.0f/dwidth, fwidth, 1.0f/fwidth};
        glUniform4fv(_param_descriptor_dsize, 1, dsize);
        float size[3];
        size[0] = width;
        size[1] = height;
        size[2] = GlobalUtil::_DescriptorWindowFactor;
        glUniform3fv(_param_descriptor_size, 1, size);

}


void ShaderBagPKSL::LoadFixedShaders()
{
        ProgramGLSL * program;


        s_gray = new ProgramGLSL( 
        "uniform sampler2DRect tex; void main(){\n"
        "float intensity = dot(vec3(0.299, 0.587, 0.114), texture2DRect(tex,gl_TexCoord[0].xy ).rgb);\n"
        "gl_FragColor= vec4(intensity, intensity, intensity, 1.0);}"    );


        s_sampling = new ProgramGLSL(
        "uniform sampler2DRect tex; void main(){\n"
        "gl_FragColor= vec4(    texture2DRect(tex,gl_TexCoord[0].st ).r,texture2DRect(tex,gl_TexCoord[1].st ).r,\n"
        "                                               texture2DRect(tex,gl_TexCoord[2].st ).r,texture2DRect(tex,gl_TexCoord[3].st ).r);}"     );


        s_margin_copy = program = new ProgramGLSL(
        "uniform sampler2DRect tex;  uniform vec4 truncate; void main(){\n"
        "vec4 cc = texture2DRect(tex, min(gl_TexCoord[0].xy, truncate.xy)); \n"
        "bvec2 ob = lessThan(gl_TexCoord[0].xy, truncate.xy);\n"
        "if(ob.y) { gl_FragColor = (truncate.z ==0 ? cc.rrbb : cc.ggaa); } \n"
        "else if(ob.x) {gl_FragColor = (truncate.w <1.5 ? cc.rgrg : cc.baba);} \n"
        "else { vec4 weights = vec4(vec4(0, 1, 2, 3) == truncate.w);\n"
        "float v = dot(weights, cc); gl_FragColor = vec4(v);}}");

        _param_margin_copy_truncate = glGetUniformLocation(*program, "truncate");



        s_zero_pass = new ProgramGLSL("void main(){gl_FragColor = vec4(0.0);}");



        s_grad_pass = program = new ProgramGLSL(
        "uniform sampler2DRect tex; uniform sampler2DRect texp; void main ()\n"
        "{\n"
        "       vec4 v1, v2, gg;\n"
        "       vec4 cc = texture2DRect(tex, gl_TexCoord[0].xy);\n"
        "       vec4 cp = texture2DRect(texp, gl_TexCoord[0].xy);\n"
        "       gl_FragData[0] = cc - cp; \n"
        "       vec4 cl = texture2DRect(tex, gl_TexCoord[1].xy); vec4 cr = texture2DRect(tex, gl_TexCoord[2].xy);\n"
        "       vec4 cd = texture2DRect(tex, gl_TexCoord[3].xy); vec4 cu = texture2DRect(tex, gl_TexCoord[4].xy);\n"
        "       vec4 dx = (vec4(cr.rb, cc.ga) - vec4(cc.rb, cl.ga)).zxwy;\n"
        "       vec4 dy = (vec4(cu.rg, cc.ba) - vec4(cc.rg, cd.ba)).zwxy;\n"
        "       vec4 grad = 0.5 * sqrt(dx*dx + dy * dy);\n"
        "       gl_FragData[1] = grad;\n"
        "       vec4 invalid = vec4(equal(grad, vec4(0.0)));    \n"
        "       vec4 ov = atan(dy, dx + invalid);               \n"
        "       gl_FragData[2] = ov; \n"
        "}\n\0"); //when 

        _param_grad_pass_texp = glGetUniformLocation(*program, "texp");


        GlobalUtil::_OrientationPack2 = 0;
        LoadOrientationShader();

        if(s_orientation == NULL)
        {
                //Load a simplified version if the right version is not supported
                s_orientation = program =  new ProgramGLSL(
                "uniform sampler2DRect fTex; uniform sampler2DRect oTex; uniform vec2 size; void main(){\n"
                "       vec4 cc = texture2DRect(fTex, gl_TexCoord[0].xy);\n"
                "       vec2 co = cc.xy * 0.5; \n"
                "       vec4 oo = texture2DRect(oTex, co);\n"
                "       bvec2 bo = lessThan(fract(co), vec2(0.5)); \n"
                "       float o = bo.y? (bo.x? oo.r : oo.g) : (bo.x? oo.b : oo.a); \n"
                "       gl_FragColor = vec4(cc.rg, o, size.x * pow(size.y, cc.a));}");  
                _param_orientation_gtex= glGetUniformLocation(*program, "oTex");
                _param_orientation_size= glGetUniformLocation(*program, "size");

                GlobalUtil::_MaxOrientation = 0;
                GlobalUtil::_FullSupported = 0;
                std::cerr<<"Orientation simplified on this hardware"<<endl;
        }

        if(GlobalUtil::_DescriptorPPT)
        {
                LoadDescriptorShader();
                if(s_descriptor_fp == NULL) 
                {
                        GlobalUtil::_DescriptorPPT = GlobalUtil::_FullSupported = 0; 
                        std::cerr<<"Descriptor ignored on this hardware"<<endl;
                }
        }
}


void ShaderBagPKSL::LoadDisplayShaders()
{
        ProgramGLSL * program;

        s_copy_key = new ProgramGLSL(
        "uniform sampler2DRect tex;void main(){\n"
        "gl_FragColor= vec4(texture2DRect(tex, gl_TexCoord[0].xy).rg, 0,1);}");

        //shader used to write a vertex buffer object
        //which is used to draw the quads of each feature
        s_vertex_list = program = new ProgramGLSL(
        "uniform sampler2DRect tex; uniform vec4 sizes; void main(){\n"
        "float fwidth = sizes.y; \n"
        "float twidth = sizes.z; \n"
        "float rwidth = sizes.w; \n"
        "float index = 0.1*(fwidth*floor(gl_TexCoord[0].y) + gl_TexCoord[0].x);\n"
        "float px = mod(index, twidth);\n"
        "vec2 tpos= floor(vec2(px, index*rwidth))+0.5;\n"
        "vec4 cc = texture2DRect(tex, tpos );\n"
        "float size = 3.0f * cc.a; \n"
        "gl_FragColor.zw = vec2(0.0, 1.0);\n"
        "if(any(lessThan(cc.xy,vec2(0.0)))) {gl_FragColor.xy = cc.xy;}else \n"
        "{\n"
        "       float type = fract(px);\n"
        "       vec2 dxy; float s, c;\n"
        "       dxy.x = type < 0.1 ? 0.0 : ((type <0.5 || type > 0.9)? size : -size);\n"
        "       dxy.y = type < 0.2 ? 0.0 : ((type < 0.3 || type > 0.7 )? -size :size); \n"
        "       s = sin(cc.b); c = cos(cc.b); \n"
        "       gl_FragColor.x = cc.x + c*dxy.x-s*dxy.y;\n"
        "       gl_FragColor.y = cc.y + c*dxy.y+s*dxy.x;}\n"
        "}\n\0");
        /*gl_FragColor = vec4(tpos, 0.0, 1.0);}\n\0");*/

        _param_genvbo_size = glGetUniformLocation(*program, "sizes");

        s_display_gaussian = new ProgramGLSL(
        "uniform sampler2DRect tex; void main(){\n"
    "vec4 pc = texture2DRect(tex, gl_TexCoord[0].xy);   bvec2 ff = lessThan(fract(gl_TexCoord[0].xy), vec2(0.5));\n"
    "float v = ff.y?(ff.x? pc.r : pc.g):(ff.x?pc.b:pc.a); gl_FragColor = vec4(vec3(v), 1.0);}");

        s_display_dog =  new ProgramGLSL(
        "uniform sampler2DRect tex; void main(){\n"
        "vec4 pc = texture2DRect(tex, gl_TexCoord[0].xy); bvec2 ff = lessThan(fract(gl_TexCoord[0].xy), vec2(0.5));\n"
        "float v = ff.y ?(ff.x ? pc.r : pc.g):(ff.x ? pc.b : pc.a);float g = (0.5+20.0*v);\n"
        "gl_FragColor = vec4(g, g, g, 1.0);}" );


        s_display_grad = new ProgramGLSL(
        "uniform sampler2DRect tex; void main(){\n"
        "vec4 pc = texture2DRect(tex, gl_TexCoord[0].xy); bvec2 ff = lessThan(fract(gl_TexCoord[0].xy), vec2(0.5));\n"
        "float v = ff.y ?(ff.x ? pc.r : pc.g):(ff.x ? pc.b : pc.a); gl_FragColor = vec4(5.0 *vec3(v), 1.0); }");

        s_display_keys= new ProgramGLSL(
        "uniform sampler2DRect tex; void main(){\n"
        "vec4 oc = texture2DRect(tex, gl_TexCoord[0].xy); \n"
        "vec4 cc = vec4(equal(abs(oc.rrrr), vec4(1.0, 2.0, 3.0, 4.0))); \n"
        "bvec2 ff = lessThan(fract(gl_TexCoord[0].xy) , vec2(0.5));\n"
        "float v = ff.y ?(ff.x ? cc.r : cc.g):(ff.x ? cc.b : cc.a);\n"
        "if(v == 0) discard;    \n"
        "else if(oc.r > 0) gl_FragColor = vec4(1.0, 0, 0,1.0); \n"
        "else gl_FragColor = vec4(0.0,1.0,0.0,1.0);     }" );
}

void ShaderBagPKSL::LoadOrientationShader(void)
{
        char buffer[10240];
        ostrstream out(buffer,10240);
        if(GlobalUtil::_IsNvidia)
        {
                out <<  "#pragma optionNV(ifcvt none)\n"
                                "#pragma optionNV(unroll all)\n";
        }
        out<<"\n"
        "#define GAUSSIAN_WF "<<GlobalUtil::_OrientationGaussianFactor<<" \n"
        "#define SAMPLE_WF ("<<GlobalUtil::_OrientationWindowFactor<< " )\n"
        "#define ORIENTATION_THRESHOLD "<< GlobalUtil::_MulitiOrientationThreshold << "\n"
        "uniform sampler2DRect tex;     uniform sampler2DRect gtex;\n"
        "uniform sampler2DRect otex; uniform vec4 size;\n"
        "void main()            \n"
        "{                                                                                                      \n"
        "       vec4 bins[10];                                                          \n"
        "       bins[0] = vec4(0.0);bins[1] = vec4(0.0);bins[2] = vec4(0.0);    \n"
        "       bins[3] = vec4(0.0);bins[4] = vec4(0.0);bins[5] = vec4(0.0);    \n"
        "       bins[6] = vec4(0.0);bins[7] = vec4(0.0);bins[8] = vec4(0.0);    \n"
        "       vec4 sift = texture2DRect(tex, gl_TexCoord[0].xy);      \n"
        "       vec2 pos = sift.xy; \n"
        "       bool orientation_mode = (size.z != 0);          \n"
        "       float sigma = orientation_mode? (abs(size.z) * pow(size.w, sift.w) * sift.z) : (sift.w); \n"
        "       //bool fixed_orientation = (size.z < 0);                \n"
        "       if(size.z < 0) {gl_FragData[0] = vec4(pos, 0, sigma); return;}"
        "       float gsigma = sigma * GAUSSIAN_WF;                             \n"
        "       vec2 win = abs(vec2(sigma)) * (SAMPLE_WF * GAUSSIAN_WF);        \n"
        "       vec2 dim = size.xy;                                                     \n"
        "       vec4 dist_threshold = vec4(win.x*win.x+0.5);                    \n"
        "       float factor = -0.5/(gsigma*gsigma);                    \n"
        "       vec4 sz;        vec2 spos;                                              \n"
        "       //if(any(pos.xy <= 1)) discard;                                 \n"
        "       sz.xy = max( pos - win, vec2(2,2));                     \n"
        "       sz.zw = min( pos + win, dim-3);                         \n"
        "       sz = floor(sz*0.5) + 0.5; ";
                //loop to get the histogram

        out<<"\n"
        "       for(spos.y = sz.y; spos.y <= sz.w;      spos.y+=1.0)                            \n"
        "       {                                                                                                                               \n"
        "               for(spos.x = sz.x; spos.x <= sz.z;      spos.x+=1.0)                    \n"
        "               {                                                                                                                       \n"
        "                       vec2 offset = 2* spos - pos - 0.5;                                      \n"
        "                       vec4 off = vec4(offset, offset + 1);                            \n"
        "                       vec4 distsq = off.xzxz * off.xzxz + off.yyww * off.yyww;        \n"
        "                       bvec4 inside = lessThan(distsq, dist_threshold);                        \n"
        "                       if(any(inside))                                                                         \n"
        "                       {                                                                                                               \n"
        "                               vec4 gg = texture2DRect(gtex, spos);                            \n"
        "                               vec4 oo = texture2DRect(otex, spos);                            \n"
        "                               vec4 weight = gg * exp(distsq * factor);                        \n"
        "                               vec4 idxv  = floor(degrees(oo)*0.1);                            \n"
        "                               idxv+= (vec4(lessThan(idxv, vec4(0.0)))*36.0);                  \n"
        "                               vec4 vidx = fract(idxv * 0.25) * 4.0;//mod(idxv, 4.0);  \n";
        //
        if(GlobalUtil::_UseDynamicIndexing && GlobalUtil::_IsNvidia)
        {
                // it might be slow on some GPUs
                out<<"\n"
        "                               for(int i = 0 ; i < 4; i++)\n"
        "                               {\n"
        "                                       if(inside[i])\n"
        "                                       {\n"
        "                                               float idx = idxv[i];                                                            \n"
        "                                               vec4 inc = weight[i] * vec4(equal(vec4(vidx[i]), vec4(0,1,2,3)));       \n"
        "                                               int iidx = int(floor(idx*0.25));        \n"
        "                                               bins[iidx]+=inc;                                        \n"
        "                                       }                                                                               \n"
        "                               }                                                                                       \n"
        "                       }                                                                                               \n"
        "               }                                                                                                       \n"
        "       }";

        }else
        {
                //nvfp40 still does not support dynamic array indexing
                //unrolled binary search
                //it seems to be faster than the dyanmic indexing version on some GPUs
                out<<"\n"
        "                               for(int i = 0 ; i < 4; i++)\n"
        "                               {\n"
        "                                       if(inside[i])\n"
        "                                       {\n"
        "                                               float idx = idxv[i];                                                                            \n"
        "                                               vec4 inc = weight[i] * vec4(equal(vec4(vidx[i]), vec4(0,1,2,3)));       \n"
        "                                               if(idx < 16)                                                    \n"
        "                                               {                                                                               \n"
        "                                                       if(idx < 8)                                                     \n"
        "                                                       {                                                                       \n"
        "                                                               if(idx < 4)     {       bins[0]+=inc;}  \n"
        "                                                               else            {       bins[1]+=inc;}  \n"
        "                                                       }else                                                           \n"
        "                                                       {                                                                       \n"
        "                                                               if(idx < 12){   bins[2]+=inc;}  \n"
        "                                                               else            {       bins[3]+=inc;}  \n"
        "                                                       }                                                                       \n"
        "                                               }else if(idx < 32)                                              \n"
        "                                               {                                                                               \n"
        "                                                       if(idx < 24)                                            \n"
        "                                                       {                                                                       \n"
        "                                                               if(idx <20)     {       bins[4]+=inc;}  \n"
        "                                                               else            {       bins[5]+=inc;}  \n"
        "                                                       }else                                                           \n"
        "                                                       {                                                                       \n"
        "                                                               if(idx < 28){   bins[6]+=inc;}  \n"
        "                                                               else            {       bins[7]+=inc;}  \n"
        "                                                       }                                                                       \n"
        "                                               }else                                           \n"
        "                                               {                                                                               \n"
        "                                                       bins[8]+=inc;                                           \n"
        "                                               }                                                                               \n"
        "                                       }                                                                                       \n"
        "                               }                                                                                               \n"
        "                       }                                                                               \n"
        "               }                                                                                       \n"
        "       }";

        }

        //reuse the code from the unpacked version..
        ShaderBagGLSL::WriteOrientationCodeToStream(out);



        ProgramGLSL * program = new ProgramGLSL(buffer);
        if(program->IsNative())
        {
                s_orientation = program ;
                _param_orientation_gtex = glGetUniformLocation(*program, "gtex");
                _param_orientation_otex = glGetUniformLocation(*program, "otex");
                _param_orientation_size = glGetUniformLocation(*program, "size");
        }else
        {
                delete program;
        }
}

void ShaderBagPKSL::SetGenListStartParam(float width, int tex0)
{
        glUniform1f(_param_ftex_width, width);
}

void ShaderBagPKSL::LoadGenListShader(int ndoglev,int nlev)
{
        ProgramGLSL * program;

        s_genlist_init_tight = new ProgramGLSL(
        "uniform sampler2DRect tex; void main ()\n"
        "{\n"
        "       vec4 key = vec4(texture2DRect(tex, gl_TexCoord[0].xy).r, \n"
        "                                       texture2DRect(tex, gl_TexCoord[1].xy).r, \n"
        "                                       texture2DRect(tex, gl_TexCoord[2].xy).r, \n"
        "                                       texture2DRect(tex, gl_TexCoord[3].xy).r); \n"
        "                                       gl_FragColor = vec4(notEqual(key, vec4(0.0))); \n"
        "}");

        s_genlist_init_ex = program = new ProgramGLSL(
        "uniform sampler2DRect tex; uniform vec4 bbox; void main ()\n"
        "{\n"
        "       vec4 helper1 = vec4(equal(vec4(abs(texture2DRect(tex, gl_TexCoord[0].xy).r)), vec4(1.0, 2.0, 3.0, 4.0)));\n"
        "       vec4 helper2 = vec4(equal(vec4(abs(texture2DRect(tex, gl_TexCoord[1].xy).r)), vec4(1.0, 2.0, 3.0, 4.0)));\n"
        "       vec4 helper3 = vec4(equal(vec4(abs(texture2DRect(tex, gl_TexCoord[2].xy).r)), vec4(1.0, 2.0, 3.0, 4.0)));\n"
        "       vec4 helper4 = vec4(equal(vec4(abs(texture2DRect(tex, gl_TexCoord[3].xy).r)), vec4(1.0, 2.0, 3.0, 4.0)));\n"
        "       vec4 bx1 = vec4(lessThan(gl_TexCoord[0].xxyy, bbox)); \n"
        "       vec4 bx4 = vec4(lessThan(gl_TexCoord[3].xxyy, bbox)); \n"
        "       vec4 bx2 = vec4(bx4.xy, bx1.zw); \n"
        "       vec4 bx3 = vec4(bx1.xy, bx4.zw);\n"
        "       helper1 = min(min(bx1.xyxy, bx1.zzww), helper1);\n"
        "       helper2 = min(min(bx2.xyxy, bx2.zzww), helper2);\n"
        "       helper3 = min(min(bx3.xyxy, bx3.zzww), helper3);\n"
        "       helper4 = min(min(bx4.xyxy, bx4.zzww), helper4);\n"
        "       gl_FragColor.r = float(any(greaterThan(max(helper1.xy, helper1.zw), vec2(0.0))));       \n"
        "       gl_FragColor.g = float(any(greaterThan(max(helper2.xy, helper2.zw), vec2(0.0))));       \n"
        "       gl_FragColor.b = float(any(greaterThan(max(helper3.xy, helper3.zw), vec2(0.0))));       \n"
        "       gl_FragColor.a = float(any(greaterThan(max(helper4.xy, helper4.zw), vec2(0.0))));       \n"
        "}");
        _param_genlist_init_bbox = glGetUniformLocation( *program, "bbox");

        s_genlist_end = program = new ProgramGLSL(
                GlobalUtil::_KeepExtremumSign == 0 ? 
        
        "uniform sampler2DRect tex; uniform sampler2DRect ktex; void main()\n"
        "{\n"
        "       vec4 tc = texture2DRect( tex, gl_TexCoord[0].xy);\n"
        "       vec2 pos = tc.rg; float index = tc.b;\n"
        "       vec4 tk = texture2DRect( ktex, pos); \n"
        "       vec4 keys = vec4(equal(abs(tk.rrrr), vec4(1.0, 2.0, 3.0, 4.0))); \n"
        "       vec2 opos; \n"
        "       opos.x = dot(keys, vec4(-0.5, 0.5, -0.5, 0.5));\n"
        "       opos.y = dot(keys, vec4(-0.5, -0.5, 0.5, 0.5));\n"
        "       gl_FragColor = vec4(opos + pos * 2.0 + tk.yz, 1.0, tk.w);\n"
        "}" : 
        
        "uniform sampler2DRect tex; uniform sampler2DRect ktex; void main()\n"
        "{\n"
        "       vec4 tc = texture2DRect( tex, gl_TexCoord[0].xy);\n"
        "       vec2 pos = tc.rg; float index = tc.b;\n"
        "       vec4 tk = texture2DRect( ktex, pos); \n"
        "       vec4 keys = vec4(equal(abs(tk.rrrr), vec4(1.0, 2.0, 3.0, 4.0))) \n"
        "       vec2 opos; \n"
        "       opos.x = dot(keys, vec4(-0.5, 0.5, -0.5, 0.5));\n"
        "       opos.y = dot(keys, vec4(-0.5, -0.5, 0.5, 0.5));\n"
        "       gl_FragColor = vec4(opos + pos * 2.0 + tk.yz, sign(tk.r), tk.w);\n"
        "}"     
        );
        _param_genlist_end_ktex = glGetUniformLocation(*program, "ktex");

        //reduction ...
        s_genlist_histo = new ProgramGLSL(
        "uniform sampler2DRect tex; void main ()\n"
        "{\n"
        "       vec4 helper; vec4 helper2; \n"
        "       helper = texture2DRect(tex, gl_TexCoord[0].xy); helper2.xy = helper.xy + helper.zw; \n"
        "       helper = texture2DRect(tex, gl_TexCoord[1].xy); helper2.zw = helper.xy + helper.zw; \n"
        "       gl_FragColor.rg = helper2.xz + helper2.yw;\n"
        "       helper = texture2DRect(tex, gl_TexCoord[2].xy); helper2.xy = helper.xy + helper.zw; \n"
        "       helper = texture2DRect(tex, gl_TexCoord[3].xy); helper2.zw = helper.xy + helper.zw; \n"
        "       gl_FragColor.ba= helper2.xz+helper2.yw;\n"
        "}");


        //read of the first part, which generates tex coordinates 

        s_genlist_start= program =  ShaderBagGLSL::LoadGenListStepShader(1, 1);
        _param_ftex_width= glGetUniformLocation(*program, "width");
        _param_genlist_start_tex0 = glGetUniformLocation(*program, "tex0");
        //stepping
        s_genlist_step = program = ShaderBagGLSL::LoadGenListStepShader(0, 1);
        _param_genlist_step_tex= glGetUniformLocation(*program, "tex");
        _param_genlist_step_tex0= glGetUniformLocation(*program, "tex0");

}
void ShaderBagPKSL::UnloadProgram(void)
{
        glUseProgram(0);
}
void ShaderBagPKSL::LoadKeypointShader(float dog_threshold, float edge_threshold)
{
        //
        char buffer[10240];
        float threshold0 = dog_threshold* (GlobalUtil::_SubpixelLocalization?0.8f:1.0f);
        float threshold1 = dog_threshold;
        float threshold2 = (edge_threshold+1)*(edge_threshold+1)/edge_threshold;
        ostrstream out(buffer, 10240);
        out<<setprecision(8);

        if(GlobalUtil::_IsNvidia)
        {
                out << "#pragma optionNV(ifcvt none)\n"
                                "#pragma optionNV(unroll all)\n"
                                "#define REPEAT4(FUNCTION)\\\n"
                                "for(int i = 0; i < 4; ++i)\\\n"
                                "{\\\n"
                                "       FUNCTION(i);\\\n"
                                "}\n";
        }else
        {
                //loop unroll
                out <<  "#define REPEAT4(FUNCTION)\\\n"
                                "FUNCTION(0);\\\n"
                                "FUNCTION(1);\\\n"
                                "FUNCTION(2);\\\n"
                                "FUNCTION(3);\n";
        }
        //tex(X)(Y)
        //X: (CLR) (CENTER 0, LEFT -1, RIGHT +1)  
        //Y: (CDU) (CENTER 0, DOWN -1, UP    +1) 
        out <<  "#define THRESHOLD0 " << threshold0 << "\n"
                        "#define THRESHOLD1 " << threshold1 << "\n"
                        "#define THRESHOLD2 " << threshold2 << "\n";

        out<<
        "uniform sampler2DRect tex; uniform sampler2DRect texU;\n"
        "uniform sampler2DRect texD; void main ()\n"
        "{\n"
        "       vec2 TexRU = vec2(gl_TexCoord[2].x, gl_TexCoord[4].y); \n"
        "       vec4 ccc = texture2DRect(tex, gl_TexCoord[0].xy);\n"
        "       vec4 clc = texture2DRect(tex, gl_TexCoord[1].xy);\n"
        "       vec4 crc = texture2DRect(tex, gl_TexCoord[2].xy);\n"
        "       vec4 ccd = texture2DRect(tex, gl_TexCoord[3].xy);\n"
        "       vec4 ccu = texture2DRect(tex, gl_TexCoord[4].xy);\n"
        "       vec4 cld = texture2DRect(tex, gl_TexCoord[5].xy);\n"
        "       vec4 clu = texture2DRect(tex, gl_TexCoord[6].xy);\n"
        "       vec4 crd = texture2DRect(tex, gl_TexCoord[7].xy);\n"
        "       vec4 cru = texture2DRect(tex, TexRU.xy);\n"
        "       vec4  cc = ccc;\n"
        "       vec4  v1[4], v2[4];\n"
        "       v1[0] = vec4(clc.g, ccc.g, ccd.b, ccc.b);\n"
        "       v1[1] = vec4(ccc.r, crc.r, ccd.a, ccc.a);\n"
        "       v1[2] = vec4(clc.a, ccc.a, ccc.r, ccu.r);\n"
        "       v1[3] = vec4(ccc.b, crc.b, ccc.g, ccu.g);\n"
        "       v2[0] = vec4(cld.a, clc.a, ccd.a, ccc.a);\n"
        "       v2[1] = vec4(ccd.b, ccc.b, crd.b, crc.b);\n"
        "       v2[2] = vec4(clc.g, clu.g, ccc.g, ccu.g);\n"
        "       v2[3] = vec4(ccc.r, ccu.r, crc.r, cru.r);\n"

        //test against 8 neighbours
        //use variable to identify type of extremum
        //1.0 for local maximum and -1.0 for minimum
        <<
        "       vec4 key = vec4(0.0); \n"
        "       #define KEYTEST_STEP0(i) \\\n"
        "       {\\\n"
        "               bvec4 test1 = greaterThan(vec4(cc[i]), max(v1[i], v2[i])), test2 = lessThan(vec4(cc[i]), min(v1[i], v2[i]));\\\n"
        "               key[i] = cc[i] > THRESHOLD0 && all(test1)?1.0: 0.0;\\\n"
        "               key[i] = cc[i] < -THRESHOLD0 && all(test2)? -1.0: key[i];\\\n"
        "       }\n"
        "       REPEAT4(KEYTEST_STEP0);\n"
        "       if(gl_TexCoord[0].x < 1.0) {key.rb = vec2(0.0);}\n"
        "       if(gl_TexCoord[0].y < 1.0) {key.rg = vec2(0.0);}\n"
        "       gl_FragColor = vec4(0.0);\n"
        "       if(any(notEqual(key, vec4(0.0)))) {\n";

        //do edge supression first.. 
        //vector v1 is < (-1, 0), (1, 0), (0,-1), (0, 1)>
        //vector v2 is < (-1,-1), (-1,1), (1,-1), (1, 1)>

        out<<
        "       float fxx[4], fyy[4], fxy[4], fx[4], fy[4];\n"
        "       #define EDGE_SUPPRESION(i) \\\n"
        "       if(key[i] != 0)\\\n"
        "       {\\\n"
        "               vec4 D2 = v1[i].xyzw - cc[i];\\\n"
        "               vec2 D4 = v2[i].xw - v2[i].yz;\\\n"
        "               vec2 D5 = 0.5*(v1[i].yw-v1[i].xz); \\\n"
        "               fx[i] = D5.x;   fy[i] = D5.y ;\\\n"
        "               fxx[i] = D2.x + D2.y;\\\n"
        "               fyy[i] = D2.z + D2.w;\\\n"
        "               fxy[i] = 0.25*(D4.x + D4.y);\\\n"
        "               float fxx_plus_fyy = fxx[i] + fyy[i];\\\n"
        "               float score_up = fxx_plus_fyy*fxx_plus_fyy; \\\n"
        "               float score_down = (fxx[i]*fyy[i] - fxy[i]*fxy[i]);\\\n"
        "               if( score_down <= 0 || score_up > THRESHOLD2 * score_down)key[i] = 0;\\\n"
        "       }\n"
        "       REPEAT4(EDGE_SUPPRESION);\n"
        "       if(any(notEqual(key, vec4(0.0)))) {\n";
        
        //read 9 pixels of upper/lower level
        out<<
        "       vec4  v4[4], v5[4], v6[4];\n"
        "       ccc = texture2DRect(texU, gl_TexCoord[0].xy);\n"
        "       clc = texture2DRect(texU, gl_TexCoord[1].xy);\n"
        "       crc = texture2DRect(texU, gl_TexCoord[2].xy);\n"
        "       ccd = texture2DRect(texU, gl_TexCoord[3].xy);\n"
        "       ccu = texture2DRect(texU, gl_TexCoord[4].xy);\n"
        "       cld = texture2DRect(texU, gl_TexCoord[5].xy);\n"
        "       clu = texture2DRect(texU, gl_TexCoord[6].xy);\n"
        "       crd = texture2DRect(texU, gl_TexCoord[7].xy);\n"
        "       cru = texture2DRect(texU, TexRU.xy);\n"
        "       vec4 cu = ccc;\n"
        "       v4[0] = vec4(clc.g, ccc.g, ccd.b, ccc.b);\n"
        "       v4[1] = vec4(ccc.r, crc.r, ccd.a, ccc.a);\n"
        "       v4[2] = vec4(clc.a, ccc.a, ccc.r, ccu.r);\n"
        "       v4[3] = vec4(ccc.b, crc.b, ccc.g, ccu.g);\n"
        "       v6[0] = vec4(cld.a, clc.a, ccd.a, ccc.a);\n"
        "       v6[1] = vec4(ccd.b, ccc.b, crd.b, crc.b);\n"
        "       v6[2] = vec4(clc.g, clu.g, ccc.g, ccu.g);\n"
        "       v6[3] = vec4(ccc.r, ccu.r, crc.r, cru.r);\n"
        <<
        "       #define KEYTEST_STEP1(i)\\\n"
        "       if(key[i] == 1.0)\\\n"
        "       {\\\n"
        "               bvec4 test = lessThan(vec4(cc[i]), max(v4[i], v6[i])); \\\n"
        "               if(cc[i] < cu[i] || any(test))key[i] = 0.0; \\\n"
        "       }else if(key[i] == -1.0)\\\n"
        "       {\\\n"
        "               bvec4 test = greaterThan(vec4(cc[i]), min(v4[i], v6[i])); \\\n"
        "               if(cc[i] > cu[i] || any(test) )key[i] = 0.0; \\\n"
        "       }\n"
        "       REPEAT4(KEYTEST_STEP1);\n"
        "       if(any(notEqual(key, vec4(0.0)))) { \n"
        <<
        "       ccc = texture2DRect(texD, gl_TexCoord[0].xy);\n"
        "       clc = texture2DRect(texD, gl_TexCoord[1].xy);\n"
        "       crc = texture2DRect(texD, gl_TexCoord[2].xy);\n"
        "       ccd = texture2DRect(texD, gl_TexCoord[3].xy);\n"
        "       ccu = texture2DRect(texD, gl_TexCoord[4].xy);\n"
        "       cld = texture2DRect(texD, gl_TexCoord[5].xy);\n"
        "       clu = texture2DRect(texD, gl_TexCoord[6].xy);\n"
        "       crd = texture2DRect(texD, gl_TexCoord[7].xy);\n"
        "       cru = texture2DRect(texD, TexRU.xy);\n"
        "       vec4 cd = ccc;\n"
        "       v5[0] = vec4(clc.g, ccc.g, ccd.b, ccc.b);\n"
        "       v5[1] = vec4(ccc.r, crc.r, ccd.a, ccc.a);\n"
        "       v5[2] = vec4(clc.a, ccc.a, ccc.r, ccu.r);\n"
        "       v5[3] = vec4(ccc.b, crc.b, ccc.g, ccu.g);\n"
        "       v6[0] = vec4(cld.a, clc.a, ccd.a, ccc.a);\n"
        "       v6[1] = vec4(ccd.b, ccc.b, crd.b, crc.b);\n"
        "       v6[2] = vec4(clc.g, clu.g, ccc.g, ccu.g);\n"
        "       v6[3] = vec4(ccc.r, ccu.r, crc.r, cru.r);\n"
        <<
        "       #define KEYTEST_STEP2(i)\\\n"
        "       if(key[i] == 1.0)\\\n"
        "       {\\\n"
        "               bvec4 test = lessThan(vec4(cc[i]), max(v5[i], v6[i]));\\\n"
        "               if(cc[i] < cd[i] || any(test))key[i] = 0.0; \\\n"
        "       }else if(key[i] == -1.0)\\\n"
        "       {\\\n"
        "               bvec4 test = greaterThan(vec4(cc[i]), min(v5[i], v6[i]));\\\n"
        "               if(cc[i] > cd[i] || any(test))key[i] = 0.0; \\\n"
        "       }\n"
        "       REPEAT4(KEYTEST_STEP2);\n"
        "       float keysum = dot(abs(key), vec4(1, 1, 1, 1)) ;\n"
        "       //assume there is only one keypoint in the four. \n"
        "       if(keysum==1.0) {\n";

        if(GlobalUtil::_SubpixelLocalization)

        out <<
        "       vec3 offset = vec3(0, 0, 0); \n"
        "       #define TESTMOVE_KEYPOINT(idx) \\\n"
        "       if(key[idx] != 0) \\\n"
        "       {\\\n"
        "               cu[0] = cu[idx];        cd[0] = cd[idx];        cc[0] = cc[idx];        \\\n"
        "               v4[0] = v4[idx];        v5[0] = v5[idx];                                                \\\n"
        "               fxy[0] = fxy[idx];      fxx[0] = fxx[idx];      fyy[0] = fyy[idx];      \\\n"
        "               fx[0] = fx[idx];        fy[0] = fy[idx];                                                \\\n"
        "       }\n"
        "       TESTMOVE_KEYPOINT(1);\n"
        "       TESTMOVE_KEYPOINT(2);\n"
        "       TESTMOVE_KEYPOINT(3);\n"
        <<
                
        "       float fs = 0.5*( cu[0] - cd[0] );                               \n"
        "       float fss = cu[0] + cd[0] - cc[0] - cc[0];\n"
        "       float fxs = 0.25 * (v4[0].y + v5[0].x - v4[0].x - v5[0].y);\n"
        "       float fys = 0.25 * (v4[0].w + v5[0].z - v4[0].z - v5[0].w);\n"
        "       vec4 A0, A1, A2 ;                       \n"
        "       A0 = vec4(fxx[0], fxy[0], fxs, -fx[0]); \n"
        "       A1 = vec4(fxy[0], fyy[0], fys, -fy[0]); \n"
        "       A2 = vec4(fxs, fys, fss, -fs);  \n"
        "       vec3 x3 = abs(vec3(fxx[0], fxy[0], fxs));               \n"
        "       float maxa = max(max(x3.x, x3.y), x3.z);        \n"
        "       if(maxa >= 1e-10 ) \n"
        "       {                                                                                               \n"
        "               if(x3.y ==maxa )                                                        \n"
        "               {                                                                                       \n"
        "                       vec4 TEMP = A1; A1 = A0; A0 = TEMP;     \n"
        "               }else if( x3.z == maxa )                                        \n"
        "               {                                                                                       \n"
        "                       vec4 TEMP = A2; A2 = A0; A0 = TEMP;     \n"
        "               }                                                                                       \n"
        "               A0 /= A0.x;                                                                     \n"
        "               A1 -= A1.x * A0;                                                        \n"
        "               A2 -= A2.x * A0;                                                        \n"
        "               vec2 x2 = abs(vec2(A1.y, A2.y));                \n"
        "               if( x2.y > x2.x )                                                       \n"
        "               {                                                                                       \n"
        "                       vec3 TEMP = A2.yzw;                                     \n"
        "                       A2.yzw = A1.yzw;                                                \n"
        "                       A1.yzw = TEMP;                                                  \n"
        "                       x2.x = x2.y;                                                    \n"
        "               }                                                                                       \n"
        "               if(x2.x >= 1e-10) {                                                             \n"
        "                       A1.yzw /= A1.y;                                                         \n"
        "                       A2.yzw -= A2.y * A1.yzw;                                        \n"
        "                       if(abs(A2.z) >= 1e-10) {\n"
        "                               offset.z = A2.w /A2.z;                              \n"
        "                               offset.y = A1.w - offset.z*A1.z;                            \n"
        "                               offset.x = A0.w - offset.z*A0.z - offset.y*A0.y;        \n"
        "                               bool test = (abs(cc[0] + 0.5*dot(vec3(fx[0], fy[0], fs), offset ))>THRESHOLD1) ;\n"
        "                               if(!test || any( greaterThan(abs(offset), vec3(1.0)))) key = vec4(0.0);\n"
        "                       }\n"
        "               }\n"
        "       }\n"
        <<"\n"
        "       float keyv = dot(key, vec4(1.0, 2.0, 3.0, 4.0));\n"
        "       gl_FragColor = vec4(keyv,  offset);\n"
        "       }}}}\n"
        "}\n"   <<'\0';

        else out << "\n"
        "       float keyv = dot(key, vec4(1.0, 2.0, 3.0, 4.0));\n"
        "       gl_FragColor =  vec4(keyv, 0, 0, 0);\n"
        "       }}}}\n"
        "}\n"   <<'\0';

        ProgramGLSL * program = new ProgramGLSL(buffer); 
        s_keypoint = program ;

        //parameter
        _param_dog_texu = glGetUniformLocation(*program, "texU");
        _param_dog_texd = glGetUniformLocation(*program, "texD");
}
void ShaderBagPKSL::SetDogTexParam(int texU, int texD)
{
        glUniform1i(_param_dog_texu, 1);
        glUniform1i(_param_dog_texd, 2);
}
void ShaderBagPKSL::SetGenListStepParam(int tex, int tex0)
{
        glUniform1i(_param_genlist_step_tex0, 1);       
}

void ShaderBagPKSL::SetGenVBOParam(float width, float fwidth,float size)
{
        float sizes[4] = {size*3.0f, fwidth, width, 1.0f/width};
        glUniform4fv(_param_genvbo_size, 1, sizes);
}
void ShaderBagPKSL::SetGradPassParam(int texP)
{
        glUniform1i(_param_grad_pass_texp, 1);
}

void ShaderBagPKSL::LoadDescriptorShader()
{
        GlobalUtil::_DescriptorPPT = 16;
        LoadDescriptorShaderF2();
    s_rect_description = LoadDescriptorProgramRECT();
}

ProgramGLSL* ShaderBagPKSL::LoadDescriptorProgramRECT()
{
        //one shader outpout 128/8 = 16 , each fragout encodes 4
        //const double twopi = 2.0*3.14159265358979323846;
        //const double rpi  = 8.0/twopi;
        char buffer[10240];
        ostrstream out(buffer, 10240);

        out<<setprecision(8);

        out<<"\n"
        "#define M_PI 3.14159265358979323846\n"
        "#define TWO_PI (2.0*M_PI)\n"
        "#define RPI 1.2732395447351626861510701069801\n"
        "#define WF size.z\n"
        "uniform sampler2DRect tex;                     \n"
        "uniform sampler2DRect gtex;                    \n"
        "uniform sampler2DRect otex;                    \n"
        "uniform vec4           dsize;                          \n"
        "uniform vec3           size;                           \n"
        "void main()                    \n"
        "{\n"
        "       vec2 dim        = size.xy;      //image size                    \n"
        "       float index = dsize.x*floor(gl_TexCoord[0].y * 0.5) + gl_TexCoord[0].x;\n"
        "       float idx = 8.0* fract(index * 0.125) + 8.0 * floor(2.0* fract(gl_TexCoord[0].y * 0.5));                \n"
        "       index = floor(index*0.125)+ 0.49;  \n"
        "       vec2 coord = floor( vec2( mod(index, dsize.z), index*dsize.w)) + 0.5 ;\n"
        "       vec2 pos = texture2DRect(tex, coord).xy;                \n"
        "       vec2 wsz = texture2DRect(tex, coord).zw;\n"
    "   float aspect_ratio = wsz.y / wsz.x;\n"
    "   float aspect_sq = aspect_ratio * aspect_ratio; \n"
        "       vec2 spt  = wsz * 0.25; vec2 ispt = 1.0 / spt; \n";

        //here cscs is actually (cos, sin, -cos, -sin) * (factor: 3)*sigma
        //and rots is  (cos, sin, -cos, -sin ) /(factor*sigma)
        //devide the 4x4 sift grid into 16 1x1 block, and each corresponds to a shader thread
        //To use linear interoplation, 1x1 is increased to 2x2, by adding 0.5 to each side
        out<<
        "       vec4 temp; vec2 pt;                             \n"
    "   pt.x = pos.x + fract(idx*0.25) * wsz.x;                         \n"
        "       pt.y = pos.y + (floor(idx*0.25) + 0.5) * spt.y;                 \n";
        
        //get a horizontal bounding box of the rotated rectangle
        out<<
    "   vec4 sz;                                        \n"
        "       sz.xy = max(pt - spt, vec2(2,2));\n"
        "       sz.zw = min(pt + spt, dim - 3);         \n"
        "       sz = floor(sz * 0.5)+0.5;"; //move sample point to pixel center
        //get voting for two box

        out<<"\n"
        "       vec4 DA, DB;   vec2 spos;                       \n"
        "       DA = DB  = vec4(0, 0, 0, 0);            \n"
        "       vec4 nox = vec4(0, 1.0, 0.0, 1.0);                                      \n"
        "       vec4 noy = vec4(0, 0.0, 1.0, 1.0);                                      \n"
        "       for(spos.y = sz.y; spos.y <= sz.w;      spos.y+=1.0)                            \n"
        "       {                                                                                                                               \n"
        "               for(spos.x = sz.x; spos.x <= sz.z;      spos.x+=1.0)                    \n"
        "               {                                                                                                                       \n"
        "                       vec2 tpt = spos * 2.0 - pt - 0.5;                                       \n"
    "                   vec4 nx = (tpt.x + nox) * ispt.x;                                                               \n"
    "                   vec4 ny = (tpt.y + noy) * ispt.y;                       \n"
        "                       vec4 nxn = abs(nx), nyn = abs(ny);                                              \n"
    "                   bvec4 inside = lessThan(max(nxn, nyn) , vec4(1.0));     \n"
        "                       if(any(inside))\n"
        "                       {\n"
        "                               vec4 gg = texture2DRect(gtex, spos);\n"
        "                               vec4 oo = texture2DRect(otex, spos);\n"
    //"               vec4 cc = cos(oo), ss = sin(oo); \n"
    //"               oo = atan(ss* aspect_ratio, cc); \n"
    //"               gg = gg * sqrt(ss * ss * aspect_sq + cc * cc); \n "
        "                               vec4 theta0 = (- oo)*RPI;\n"
        "                               vec4 theta = 8.0 * fract(1.0 + 0.125 * theta0);                 \n"
        "                               vec4 theta1 = floor(theta);                                                             \n"
        "                               vec4 weight = (1 - nxn) * (1 - nyn) * gg; \n"
        "                               vec4 weight2 = (theta - theta1) * weight;                               \n"
        "                               vec4 weight1 = weight - weight2;                                                \n"
        "                               for(int i = 0;i < 4; i++)\n"
        "                               {\n"
        "                                       if(inside[i])\n"
        "                                       {\n"
        "                                               DA += vec4(equal(vec4(theta1[i]), vec4(0, 1, 2, 3)))*weight1[i]; \n"
        "                                               DA += vec4(equal(vec4(theta1[i]), vec4(7, 0, 1, 2)))*weight2[i]; \n"
        "                                               DB += vec4(equal(vec4(theta1[i]), vec4(4, 5, 6, 7)))*weight1[i]; \n"
        "                                               DB += vec4(equal(vec4(theta1[i]), vec4(3, 4, 5, 6)))*weight2[i]; \n"
        "                                       }\n"
        "                               }\n"
        "                       }\n"
        "               }\n"
        "       }\n";
        out<<
        "        gl_FragData[0] = DA; gl_FragData[1] = DB;\n"
        "}\n"<<'\0';

        ProgramGLSL * program =  new ProgramGLSL(buffer); 
        if(program->IsNative()) 
        {
                return program;
        }
        else
        {
                delete program;
                return NULL;
        }
}

ProgramGLSL* ShaderBagPKSL::LoadDescriptorProgramPKSL()
{
        //one shader outpout 128/8 = 16 , each fragout encodes 4
        //const double twopi = 2.0*3.14159265358979323846;
        //const double rpi  = 8.0/twopi;
        char buffer[10240];
        ostrstream out(buffer, 10240);

        out<<setprecision(8);

        out<<"\n"
        "#define M_PI 3.14159265358979323846\n"
        "#define TWO_PI (2.0*M_PI)\n"
        "#define RPI 1.2732395447351626861510701069801\n"
        "#define WF size.z\n"
        "uniform sampler2DRect tex;                     \n"
        "uniform sampler2DRect gtex;                    \n"
        "uniform sampler2DRect otex;                    \n"
        "uniform vec4           dsize;                          \n"
        "uniform vec3           size;                           \n"
        "void main()                    \n"
        "{\n"
        "       vec2 dim        = size.xy;      //image size                    \n"
        "       float index = dsize.x*floor(gl_TexCoord[0].y * 0.5) + gl_TexCoord[0].x;\n"
        "       float idx = 8.0* fract(index * 0.125) + 8.0 * floor(2.0* fract(gl_TexCoord[0].y * 0.5));                \n"
        "       index = floor(index*0.125)+ 0.49;  \n"
        "       vec2 coord = floor( vec2( mod(index, dsize.z), index*dsize.w)) + 0.5 ;\n"
        "       vec2 pos = texture2DRect(tex, coord).xy;                \n"
        "       if(any(lessThan(pos.xy, vec2(1.0))) || any(greaterThan(pos.xy, dim-1.0))) "
        "       //discard;      \n" 
        "       { gl_FragData[0] = gl_FragData[1] = vec4(0.0); return; }\n"
        "       float anglef = texture2DRect(tex, coord).z;\n"
        "       if(anglef > M_PI) anglef -= TWO_PI;\n"
        "       float sigma = texture2DRect(tex, coord).w; \n"
        "       float spt  = abs(sigma * WF);   //default to be 3*sigma \n";
        //rotation
        out<<
        "       vec4 cscs, rots;                                                \n"
        "       cscs.x = cos(anglef); cscs.y = sin(anglef);     \n"
        "       cscs.zw = - cscs.xy;                                                    \n"
        "       rots = cscs /spt;                                                               \n"
        "       cscs *= spt; \n";

        //here cscs is actually (cos, sin, -cos, -sin) * (factor: 3)*sigma
        //and rots is  (cos, sin, -cos, -sin ) /(factor*sigma)
        //devide the 4x4 sift grid into 16 1x1 block, and each corresponds to a shader thread
        //To use linear interoplation, 1x1 is increased to 2x2, by adding 0.5 to each side
        out<<
        "       vec4 temp; vec2 pt, offsetpt;                           \n"
        "       /*the fraction part of idx is .5*/                      \n"
        "       offsetpt.x = 4.0* fract(idx*0.25) - 2.0;                                \n"
        "       offsetpt.y = floor(idx*0.25) - 1.5;                     \n"
        "       temp = cscs.xwyx*offsetpt.xyxy;                         \n"
        "       pt = pos + temp.xz + temp.yw;                           \n";
        
        //get a horizontal bounding box of the rotated rectangle
        out<<
        "       vec2 bwin = abs(cscs.xy);                                       \n"
        "       float bsz = bwin.x + bwin.y;                                    \n"
        "       vec4 sz;                                        \n"
        "       sz.xy = max(pt - vec2(bsz), vec2(2,2));\n"
        "       sz.zw = min(pt + vec2(bsz), dim - 3);           \n"
        "       sz = floor(sz * 0.5)+0.5;"; //move sample point to pixel center
        //get voting for two box

        out<<"\n"
        "       vec4 DA, DB;   vec2 spos;                       \n"
        "       DA = DB  = vec4(0, 0, 0, 0);            \n"
        "       vec4 nox = vec4(0, rots.xy, rots.x + rots.y);                                   \n"
        "       vec4 noy = vec4(0, rots.wx, rots.w + rots.x);                                   \n"
        "       for(spos.y = sz.y; spos.y <= sz.w;      spos.y+=1.0)                            \n"
        "       {                                                                                                                               \n"
        "               for(spos.x = sz.x; spos.x <= sz.z;      spos.x+=1.0)                    \n"
        "               {                                                                                                                       \n"
        "                       vec2 tpt = spos * 2.0 - pt - 0.5;                                       \n"
        "                       vec4 temp = rots.xywx * tpt.xyxy;                                               \n"
        "                       vec2 temp2 = temp.xz + temp.yw;                                         \n"
        "                       vec4 nx = temp2.x + nox;                                                                \n"
        "                       vec4 ny = temp2.y + noy;                        \n"
        "                       vec4 nxn = abs(nx), nyn = abs(ny);                                              \n"
        "                       bvec4 inside = lessThan(max(nxn, nyn) , vec4(1.0));     \n"
        "                       if(any(inside))\n"
        "                       {\n"
        "                               vec4 gg = texture2DRect(gtex, spos);\n"
        "                               vec4 oo = texture2DRect(otex, spos);\n"
        "                               vec4 theta0 = (anglef - oo)*RPI;\n"
        "                               vec4 theta = 8.0 * fract(1.0 + 0.125 * theta0);                 \n"
        "                               vec4 theta1 = floor(theta);                                                             \n"
        "                               vec4 diffx = nx + offsetpt.x, diffy = ny + offsetpt.y;  \n"
        "                               vec4 ww = exp(-0.125 * (diffx * diffx + diffy * diffy ));       \n"
        "                               vec4 weight = (1 - nxn) * (1 - nyn) * gg * ww; \n"
        "                               vec4 weight2 = (theta - theta1) * weight;                               \n"
        "                               vec4 weight1 = weight - weight2;                                                \n"
        "                               for(int i = 0;i < 4; i++)\n"
        "                               {\n"
        "                                       if(inside[i])\n"
        "                                       {\n"
        "                                               DA += vec4(equal(vec4(theta1[i]), vec4(0, 1, 2, 3)))*weight1[i]; \n"
        "                                               DA += vec4(equal(vec4(theta1[i]), vec4(7, 0, 1, 2)))*weight2[i]; \n"
        "                                               DB += vec4(equal(vec4(theta1[i]), vec4(4, 5, 6, 7)))*weight1[i]; \n"
        "                                               DB += vec4(equal(vec4(theta1[i]), vec4(3, 4, 5, 6)))*weight2[i]; \n"
        "                                       }\n"
        "                               }\n"
        "                       }\n"
        "               }\n"
        "       }\n";
        out<<
        "        gl_FragData[0] = DA; gl_FragData[1] = DB;\n"
        "}\n"<<'\0';

        ProgramGLSL * program =  new ProgramGLSL(buffer); 
        if(program->IsNative()) 
        {
                return program;
        }
        else
        {
                delete program;
                return NULL;
        }
}

void ShaderBagPKSL::LoadDescriptorShaderF2()
{

        ProgramGLSL * program = LoadDescriptorProgramPKSL();
        if( program )
        {
                s_descriptor_fp = program;
                _param_descriptor_gtex = glGetUniformLocation(*program, "gtex");
                _param_descriptor_otex = glGetUniformLocation(*program, "otex");
                _param_descriptor_size = glGetUniformLocation(*program, "size");
                _param_descriptor_dsize = glGetUniformLocation(*program, "dsize");
        }
}



void ShaderBagPKSL::SetSimpleOrientationInput(int oTex, float sigma, float sigma_step)
{
        glUniform1i(_param_orientation_gtex, 1);
        glUniform2f(_param_orientation_size, sigma, sigma_step);
}


void ShaderBagPKSL::SetFeatureOrientationParam(int gtex, int width, int height, float sigma, int otex, float step)
{
        glUniform1i(_param_orientation_gtex, 1);        
        glUniform1i(_param_orientation_otex, 2);        

        float size[4];
        size[0] = (float)width;
        size[1] = (float)height;
        size[2] = sigma;
        size[3] = step;
        glUniform4fv(_param_orientation_size, 1, size);

}

void ShaderBagPKSL::SetFeatureDescirptorParam(int gtex, int otex, float dwidth, float fwidth,  float width, float height, float sigma)
{
    if(sigma == 0 && s_rect_description)
    {
        //rectangle description mode
        s_rect_description->UseProgram();       
        GLint param_descriptor_gtex = glGetUniformLocation(*s_rect_description, "gtex");
                GLint param_descriptor_otex = glGetUniformLocation(*s_rect_description, "otex");
                GLint param_descriptor_size = glGetUniformLocation(*s_rect_description, "size");
                GLint param_descriptor_dsize = glGetUniformLocation(*s_rect_description, "dsize");
            glUniform1i(param_descriptor_gtex, 1);      
            glUniform1i(param_descriptor_otex, 2);      

            float dsize[4] ={dwidth, 1.0f/dwidth, fwidth, 1.0f/fwidth};
            glUniform4fv(param_descriptor_dsize, 1, dsize);
            float size[3];
            size[0] = width;
            size[1] = height;
            size[2] = GlobalUtil::_DescriptorWindowFactor;
            glUniform3fv(param_descriptor_size, 1, size);
    }else
    {
            glUniform1i(_param_descriptor_gtex, 1);     
            glUniform1i(_param_descriptor_otex, 2);     


            float dsize[4] ={dwidth, 1.0f/dwidth, fwidth, 1.0f/fwidth};
            glUniform4fv(_param_descriptor_dsize, 1, dsize);
            float size[3];
            size[0] = width;
            size[1] = height;
            size[2] = GlobalUtil::_DescriptorWindowFactor;
            glUniform3fv(_param_descriptor_size, 1, size);
    }

}


void ShaderBagPKSL::SetGenListEndParam(int ktex)
{
        glUniform1i(_param_genlist_end_ktex, 1);
}
void ShaderBagPKSL::SetGenListInitParam(int w, int h)
{
        float bbox[4] = {(w -1.0f) * 0.5f +0.25f, (w-1.0f) * 0.5f - 0.25f,  (h - 1.0f) * 0.5f + 0.25f, (h-1.0f) * 0.5f - 0.25f};
        glUniform4fv(_param_genlist_init_bbox, 1, bbox);
}

void ShaderBagPKSL::SetMarginCopyParam(int xmax, int ymax)
{
        float truncate[4];
        truncate[0] = (xmax - 0.5f) * 0.5f; //((xmax + 1)  >> 1) - 0.5f;
        truncate[1] = (ymax - 0.5f) * 0.5f; //((ymax + 1)  >> 1) - 0.5f;
        truncate[2] = (xmax %2 == 1)? 0.0f: 1.0f;
        truncate[3] = truncate[2] +  (((ymax % 2) == 1)? 0.0f : 2.0f);
        glUniform4fv(_param_margin_copy_truncate, 1,  truncate);
}