SiftGPU.h

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//      File:           SiftGPU.h
//      Author:         Changchang Wu
//      Description :   interface for the SIFTGPU class.
//                                      SiftGPU:        The SiftGPU Tool.  
//                                      SiftGPUEX:      SiftGPU + viewer
//                                      SiftParam:      Sift Parameters
//                                      SiftMatchGPU: GPU SIFT Matcher;
//
//
//      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
//


#ifndef GPU_SIFT_H
#define GPU_SIFT_H

#if  defined(_WIN32) 
        #ifdef SIFTGPU_DLL
                #ifdef DLL_EXPORT
                        #define SIFTGPU_EXPORT __declspec(dllexport)
                #else
                        #define SIFTGPU_EXPORT __declspec(dllimport)
                #endif
        #else
                #define SIFTGPU_EXPORT
        #endif

    #define SIFTGPU_EXPORT_EXTERN SIFTGPU_EXPORT

        #if _MSC_VER > 1000
                #pragma once
        #endif
#else
        #define SIFTGPU_EXPORT
    #define SIFTGPU_EXPORT_EXTERN extern "C"
#endif

//clss SiftParam
//description: SIFT parameters
class GlobalUtil;
class SiftParam
{
public:
        float*          _sigma;
        float           _sigma_skip0; // 
        float           _sigma_skip1; //
        
        //sigma of the first level
        float           _sigma0;
        float           _sigman;
        int                     _sigma_num;

        //how many dog_level in an octave
        int                     _dog_level_num;
        int                     _level_num;

        //starting level in an octave
        int                     _level_min;
        int                     _level_max;
        int                     _level_ds;
        //dog threshold
        float           _dog_threshold;
        //edge elimination
        float           _edge_threshold;
        void             ParseSiftParam();
public:
        float GetLevelSigma(int lev);
        float GetInitialSmoothSigma(int octave_min);
        SIFTGPU_EXPORT SiftParam();
};

class LiteWindow;
class GLTexInput;
class ShaderMan;
class SiftPyramid;
class ImageList;
//class SIftGPU
//description: Interface of SiftGPU lib
class SiftGPU:public SiftParam
{
public:
        enum
        {
                SIFTGPU_NOT_SUPPORTED = 0,
                SIFTGPU_PARTIAL_SUPPORTED = 1, // detction works, but not orientation/descriptor
                SIFTGPU_FULL_SUPPORTED = 2
        };
        typedef struct SiftKeypoint
        {
                float x, y, s, o; //x, y, scale, orientation.
        }SiftKeypoint;
protected: 
        //when more than one images are specified
        //_current indicates the active one
        int             _current;
        //_initialized indicates if the shaders and OpenGL/SIFT parameters are initialized
        //they are initialized only once for one SiftGPU inistance
        //that is, SIFT parameters will not be changed
        int             _initialized;
        //_image_loaded indicates if the current images are loaded
        int             _image_loaded;
        //the name of current input image
        char*   _imgpath;
        //_outpath containes the name of the output file
        char*   _outpath;
        //the list of image filenames
        ImageList *    _list;
        //the texture that holds loaded input image
        GLTexInput *   _texImage;
        //the SiftPyramid
        SiftPyramid *  _pyramid;
        //print out the command line options
        static void PrintUsage();
        //Initialize OpenGL and SIFT paremeters, and create the shaders accordingly
        void InitSiftGPU();
        //load the image list from a file
        void LoadImageList(char *imlist);
public:
        //timing results for 10 steps
        float                       _timing[10];
    inline const char*  GetCurrentImagePath() {return _imgpath; }
public:
        //set the image list for processing
        SIFTGPU_EXPORT virtual void SetImageList(int nimage, const char** filelist);
        //get the number of SIFT features in current image
        SIFTGPU_EXPORT virtual int      GetFeatureNum();
        //save the SIFT result as a ANSCII/BINARY file 
        SIFTGPU_EXPORT virtual void SaveSIFT(const char * szFileName);
        //Copy the SIFT result to two vectors
        SIFTGPU_EXPORT virtual void GetFeatureVector(SiftKeypoint * keys, float * descriptors);
        //Set keypoint list before running sift to get descriptors
        SIFTGPU_EXPORT virtual void SetKeypointList(int num, const SiftKeypoint * keys, int keys_have_orientation = 1);
        //Enable downloading results to CPU. 
        //create a new OpenGL context for processing
        //call VerifyContextGL instead if you want to crate openGL context yourself, or your are 
        //mixing mixing siftgpu with other openGL code
        SIFTGPU_EXPORT virtual int CreateContextGL();
        //verify the current opengl context..
        //(for example, you call wglmakecurrent yourself and verify the current context)
        SIFTGPU_EXPORT virtual int VerifyContextGL();
        //check if all siftgpu functions are supported
        SIFTGPU_EXPORT virtual int IsFullSupported();
        //set verbose mode
        SIFTGPU_EXPORT virtual void SetVerbose(int verbose = 4);
        //set SiftGPU to brief display mode, which is faster
        inline void SetVerboseBrief(){SetVerbose(2);};
        //parse SiftGPU parameters
        SIFTGPU_EXPORT virtual void ParseParam(int argc, char **argv);
        //run SIFT on a new image given filename
        SIFTGPU_EXPORT virtual int  RunSIFT(const char * imgpath);
        //run SIFT on an image in the image list given the file index
        SIFTGPU_EXPORT virtual int      RunSIFT(int index);
        //run SIFT on a new image given the pixel data and format/type;
        //gl_format (e.g. GL_LUMINANCE, GL_RGB) is the format of the pixel data
        //gl_type (e.g. GL_UNSIGNED_BYTE, GL_FLOAT) is the data type of the pixel data;
        //Check glTexImage2D(...format, type,...) for the accepted values
        //Using image data of GL_LUMINANCE + GL_UNSIGNED_BYTE can minimize transfer time
        SIFTGPU_EXPORT virtual int  RunSIFT(int width, int height,      const void * data, 
                                                                                unsigned int gl_format, unsigned int gl_type);
        //run SIFT on current image (specified by arguments), or processing the current image again
        SIFTGPU_EXPORT virtual int  RunSIFT();
        //run SIFT with keypoints on current image again. 
        SIFTGPU_EXPORT virtual int  RunSIFT(int num, const SiftKeypoint * keys, int keys_have_orientation = 1);
        //constructor, the parameter np is ignored..
        SIFTGPU_EXPORT SiftGPU(int np = 1);
        //destructor
        SIFTGPU_EXPORT virtual ~SiftGPU();
        //set the active pyramid...dropped function
    SIFTGPU_EXPORT virtual void SetActivePyramid(int index) {}
        //retrieve the number of images in the image list
        SIFTGPU_EXPORT virtual int GetImageCount();
        //set parameter GlobalUtil::_ForceTightPyramid
        SIFTGPU_EXPORT virtual void SetTightPyramid(int tight = 1);
        //allocate pyramid for a given size of image
        SIFTGPU_EXPORT virtual int AllocatePyramid(int width, int height);
        //none of the texture in processing can be larger
        //automatic down-sample is used if necessary. 
        SIFTGPU_EXPORT virtual void SetMaxDimension(int sz);
public:
        //overload the new operator because delete operator is virtual
        //and it is operating on the heap inside the dll (due to the 
        //compiler setting of /MT and /MTd). Without the overloaded operator
        //deleting a SiftGPU object will cause a heap corruption in the 
        //static link case (but not for the runtime dll loading).
        SIFTGPU_EXPORT void* operator new (size_t size); 
};



//class SIftGPUEX
//description: adds some visualization functions to the interface of SiftGPU

class SiftGPUEX:public SiftGPU
{
        //view mode
        int     _view;
        //sub view mode
        int _sub_view;
        //whether display a debug view
        int _view_debug;
        //colors for SIFT feature display
        enum{COLOR_NUM = 36};
        float _colors[COLOR_NUM*3];
        //display functions
        void DisplayInput();    //display gray level image of input image       
        void DisplayDebug();    //display debug view
        void DisplayFeatureBox(int i);  //display SIFT features
        void DisplayLevel(void (*UseDisplayShader)(), int i);           //display one level image
        void DisplayOctave(void (*UseDisplayShader)(), int i);          //display all images in one octave
        //display different content of Pyramid by specifying different data and display shader
        //the first nskip1 levels and the last nskip2 levels are skiped in display
        void DisplayPyramid( void (*UseDisplayShader)(), int dataName, int nskip1 = 0, int nskip2 = 0);
        //use HSVtoRGB to generate random colors
        static void HSVtoRGB(float hsv[3],float rgb[3]);

public:
        SIFTGPU_EXPORT SiftGPUEX();
        //change view mode
        SIFTGPU_EXPORT void SetView(int view, int sub_view, char * title);
        //display current view
        SIFTGPU_EXPORT void DisplaySIFT();
        //toggle debug mode on/off
        SIFTGPU_EXPORT void ToggleDisplayDebug();
        //randomize the display colors
        SIFTGPU_EXPORT void RandomizeColor();
        //retrieve the size of current input image
        SIFTGPU_EXPORT void GetImageDimension(int &w, int&h);
        //get the location of the window specified by user
        SIFTGPU_EXPORT void GetInitWindowPotition(int& x, int& y);
};

//This is a gpu-based sift match implementation. 
class SiftMatchGPU
{
public:
        enum SIFTMATCH_LANGUAGE {
                SIFTMATCH_SAME_AS_SIFTGPU = 0, //when siftgpu already initialized.
                SIFTMATCH_GLSL = 2,
                SIFTMATCH_CUDA = 3,
        SIFTMATCH_CUDA_DEVICE0 = 3 //to use device i, use SIFTMATCH_CUDA_DEVICE0 + i
        };
private:
        int                             __max_sift;
        int                             __language;
        SiftMatchGPU *  __matcher;
        virtual void   InitSiftMatch(){}
protected:
        //move the two functions here for derived class
        SIFTGPU_EXPORT virtual int  _CreateContextGL();
        SIFTGPU_EXPORT virtual int  _VerifyContextGL();
public:
        //OpenGL Context creation/verification, initialization is done automatically inside
        inline int  CreateContextGL() {return _CreateContextGL();}
        inline int  VerifyContextGL() {return _VerifyContextGL();}

        //Consructor, the argument specifies the maximum number of features to match
        SIFTGPU_EXPORT SiftMatchGPU(int max_sift = 4096);

        //change gpu_language, check the enumerants in SIFTMATCH_LANGUAGE.
        SIFTGPU_EXPORT virtual void SetLanguage(int gpu_language);

    //after calling SetLanguage, you can call SetDeviceParam to select GPU
    //-winpos, -display, -cuda [device_id] 
    //This is only used when you call CreateContextGL..
        //This function doesn't change the language. 
    SIFTGPU_EXPORT virtual void SetDeviceParam(int argc, char**argv);

        //change the maximum of features to match whenever you want
        SIFTGPU_EXPORT virtual void SetMaxSift(int max_sift);
        //desctructor
        SIFTGPU_EXPORT virtual ~SiftMatchGPU();

        //Specifiy descriptors to match, index = [0/1] for two features sets respectively
        //Option1, use float descriptors, and they be already normalized to 1.0
        SIFTGPU_EXPORT virtual void SetDescriptors(int index, int num, const float* descriptors, int id  = -1);
        //Option 2 unsigned char descriptors. They must be already normalized to 512
        SIFTGPU_EXPORT virtual void SetDescriptors(int index, int num, const unsigned char * descriptors, int id = -1);

        //match two sets of features, the function RETURNS the number of matches.
        //Given two normalized descriptor d1,d2, the distance here is acos(d1 *d2);
        SIFTGPU_EXPORT virtual int  GetSiftMatch(
                                int max_match,  // the length of the match_buffer.
                                int match_buffer[][2], //buffer to receive the matched feature indices
                                float distmax = 0.7,    //maximum distance of sift descriptor
                                float ratiomax = 0.8,   //maximum distance ratio
                                int mutual_best_match = 1); //mutual best match or one way

        //two functions for guded matching, two constraints can be used 
        //one homography and one fundamental matrix, the use is as follows
        //1. for each image, first call SetDescriptor then call SetFeatureLocation
        //2. Call GetGuidedSiftMatch
        //input feature location is a vector of [float x, float y, float skip[gap]]
        SIFTGPU_EXPORT virtual void SetFeautreLocation(int index, const float* locations, int gap = 0);
        inline void SetFeatureLocation(int index, const SiftGPU::SiftKeypoint * keys)
        {
                SetFeautreLocation(index, (const float*) keys, 2);
        }

        //use a guiding Homography H and a guiding Fundamental Matrix F to compute feature matches
        //the function returns the number of matches.
        SIFTGPU_EXPORT virtual int  GetGuidedSiftMatch(
                                        int max_match, int match_buffer[][2], //buffer to recieve 
                                        float H[3][3],                  //homography matrix,  (Set NULL to skip)
                                        float F[3][3],                  //fundamental matrix, (Set NULL to skip)
                                        float distmax = 0.7,    //maximum distance of sift descriptor
                                        float ratiomax = 0.8,   //maximum distance ratio
                                        float hdistmax = 32,    //threshold for |H * x1 - x2|_1 
                                        float fdistmax = 16,    //threshold for sampson error of x2'FX1
                                        int mutual_best_match = 1); //mutual best or one way

public:
        //overload the new operator, the same reason as SiftGPU above
        SIFTGPU_EXPORT void* operator new (size_t size);
};

typedef SiftGPU::SiftKeypoint SiftKeypoint;

//Two exported global functions used to create SiftGPU and SiftMatchGPU
SIFTGPU_EXPORT_EXTERN SiftGPU * CreateNewSiftGPU(int np =1);
SIFTGPU_EXPORT_EXTERN SiftMatchGPU* CreateNewSiftMatchGPU(int max_sift = 4096);


class ComboSiftGPU: public SiftGPU, public SiftMatchGPU 
{
public:
        SIFTGPU_EXPORT void* operator new (size_t size); 
};
SIFTGPU_EXPORT_EXTERN ComboSiftGPU* CreateComboSiftGPU(); 

//Multi-process mode and remote mode
SIFTGPU_EXPORT_EXTERN ComboSiftGPU* CreateRemoteSiftGPU(int port = 7777, char* remote_server = NULL);
//Run SiftGPU computation on a remote computer/process/thread
//if( remote_server == NULL) 
//                      a local server is created in a different process and connected
//                      multiple-GPU can be used by creating multiple instances
//                      GPU selection done through SiftGPU::ParseParam function
//otherwise, 
//                      Assumes the existenc of a remote server and connects to it
//                      GPU selection skipped if already done on the server-end
//                      RUN server: server_siftgpu -server port [siftgpu_param]
//example:
//      ComboSiftGPU * combo = CreateRemoteSiftGPU(7777, "my.gpuserver.com");
//      SiftGPU* siftgpu = combo, SiftMatchGPU * matcher = combo;
//  siftgpu->ParseParam... siftgpu->CreateContextGL..
//  matcher->SetLanguage...matcher->VerifyContextGL...
//  // GPU-selection is done throught siftgpu->ParseParam, 
//  // it doesn't really initialize SiftGPU untill you call CreateContextGL/VerifyContextGL
//  delete combo;

//two internally used function.
SIFTGPU_EXPORT int  CreateLiteWindow(LiteWindow* window);
SIFTGPU_EXPORT void RunServerLoop(int port, int argc, char** argv);
#endif