SiftMatchCU.cpp
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00001 
00002 //      File:           SiftMatchCU.cpp
00003 //      Author:         Changchang Wu
00004 //      Description : implementation of the SiftMatchCU class.
00005 //                              CUDA-based implementation of SiftMatch
00006 //
00007 //      Copyright (c) 2007 University of North Carolina at Chapel Hill
00008 //      All Rights Reserved
00009 //
00010 //      Permission to use, copy, modify and distribute this software and its
00011 //      documentation for educational, research and non-profit purposes, without
00012 //      fee, and without a written agreement is hereby granted, provided that the
00013 //      above copyright notice and the following paragraph appear in all copies.
00014 //      
00015 //      The University of North Carolina at Chapel Hill make no representations
00016 //      about the suitability of this software for any purpose. It is provided
00017 //      'as is' without express or implied warranty. 
00018 //
00019 //      Please send BUG REPORTS to ccwu@cs.unc.edu
00020 //
00022 
00023 #if defined(CUDA_SIFTGPU_ENABLED)
00024 
00025 #include "GL/glew.h"
00026 #include <iostream>
00027 #include <vector>
00028 #include <algorithm>
00029 #include <stdlib.h>
00030 #include <math.h>
00031 using namespace std;
00032 
00033 
00034 #include "GlobalUtil.h"
00035 #include "CuTexImage.h" 
00036 #include "SiftGPU.h"
00037 #include "ProgramCU.h"
00038 #include "SiftMatchCU.h"
00039 
00040 
00041 SiftMatchCU::SiftMatchCU(int max_sift):SiftMatchGPU()
00042 {
00043         _num_sift[0] = _num_sift[1] = 0;
00044         _id_sift[0] = _id_sift[1] = 0;
00045         _have_loc[0] = _have_loc[1] = 0;
00046         _max_sift = max_sift <=0 ? 4096 : ((max_sift + 31)/ 32 * 32) ; 
00047         _initialized = 0;
00048 }
00049 
00050 void SiftMatchCU::SetMaxSift(int max_sift)
00051 {
00052         max_sift = ((max_sift + 31)/32)*32;
00053         if(max_sift > GlobalUtil::_texMaxDimGL) max_sift = GlobalUtil::_texMaxDimGL;
00054         _max_sift = max_sift;
00055 }
00056 
00057 
00058 int  SiftMatchCU::CheckCudaDevice(int device)
00059 {
00060     return ProgramCU::CheckCudaDevice(device);
00061 }
00062 
00063 void SiftMatchCU::InitSiftMatch()
00064 {
00065         if(_initialized) return;
00066     GlobalUtil::_GoodOpenGL = max(GlobalUtil::_GoodOpenGL, 1); 
00067         _initialized = 1; 
00068 }
00069 
00070 
00071 void SiftMatchCU::SetDescriptors(int index, int num, const unsigned char* descriptors, int id)
00072 {       
00073         if(_initialized == 0) return;
00074         if (index > 1) index = 1;
00075         if (index < 0) index = 0;
00076         _have_loc[index] = 0;
00077         //the same feature is already set
00078         if(id !=-1 && id == _id_sift[index]) return ;
00079         _id_sift[index] = id;
00080         if(num > _max_sift) num = _max_sift;
00081         _num_sift[index] = num; 
00082         _texDes[index].InitTexture(8 * num, 1, 4);
00083         _texDes[index].CopyFromHost((void*)descriptors);
00084 }
00085 
00086 
00087 void SiftMatchCU::SetDescriptors(int index, int num, const float* descriptors, int id)
00088 {       
00089         if(_initialized == 0) return;
00090         if (index > 1) index = 1;
00091         if (index < 0) index = 0;
00092         if(num > _max_sift) num = _max_sift;
00093 
00094         sift_buffer.resize(num * 128 /4);
00095         unsigned char * pub = (unsigned char*) &sift_buffer[0];
00096         for(int i = 0; i < 128 * num; ++i)
00097         {
00098                 pub[i] = int(512 * descriptors[i] + 0.5);
00099         }
00100         SetDescriptors(index, num, pub, id);
00101 }
00102 
00103 
00104 void SiftMatchCU::SetFeautreLocation(int index, const float* locations, int gap)
00105 {
00106         if(_num_sift[index] <=0) return;
00107         _texLoc[index].InitTexture(_num_sift[index], 1, 2);
00108         if(gap == 0)
00109         {
00110                 _texLoc[index].CopyFromHost(locations);
00111         }else
00112         {
00113                 sift_buffer.resize(_num_sift[index] * 2);
00114                 float* pbuf = (float*) (&sift_buffer[0]);
00115                 for(int i = 0; i < _num_sift[index]; ++i)
00116                 {
00117                         pbuf[i*2] = *locations++;
00118                         pbuf[i*2+1]= *locations ++;
00119                         locations += gap;
00120                 }
00121                 _texLoc[index].CopyFromHost(pbuf);
00122         }
00123         _have_loc[index] = 1;
00124 }
00125 
00126 int  SiftMatchCU::GetGuidedSiftMatch(int max_match, int match_buffer[][2], float H[3][3], float F[3][3],
00127                                                                          float distmax, float ratiomax, float hdistmax, float fdistmax, int mbm)
00128 {
00129 
00130         if(_initialized ==0) return 0;
00131         if(_num_sift[0] <= 0 || _num_sift[1] <=0) return 0;
00132         if(_have_loc[0] == 0 || _have_loc[1] == 0) return 0;
00133         ProgramCU::MultiplyDescriptorG(_texDes, _texDes+1, _texLoc, _texLoc + 1,
00134                 &_texDot, (mbm? &_texCRT: NULL), H, hdistmax, F, fdistmax);
00135         return GetBestMatch(max_match, match_buffer, distmax, ratiomax, mbm);
00136 }
00137 
00138 
00139 int  SiftMatchCU::GetSiftMatch(int max_match, int match_buffer[][2], float distmax, float ratiomax, int mbm)
00140 {
00141         if(_initialized ==0) return 0;
00142         if(_num_sift[0] <= 0 || _num_sift[1] <=0) return 0;
00143         ProgramCU::MultiplyDescriptor(_texDes, _texDes + 1, &_texDot, (mbm? &_texCRT: NULL));
00144         return GetBestMatch(max_match, match_buffer, distmax, ratiomax, mbm);
00145 }
00146 
00147 
00148 int SiftMatchCU::GetBestMatch(int max_match, int match_buffer[][2], float distmax, float ratiomax, int mbm)
00149 {
00150         sift_buffer.resize(_num_sift[0] + _num_sift[1]);
00151         int * buffer1 =  (int*) &sift_buffer[0], * buffer2 = (int*) &sift_buffer[_num_sift[0]];
00152         _texMatch[0].InitTexture(_num_sift[0], 1);
00153         ProgramCU::GetRowMatch(&_texDot, _texMatch, distmax, ratiomax);
00154         _texMatch[0].CopyToHost(buffer1);
00155         if(mbm)
00156         {
00157                 _texMatch[1].InitTexture(_num_sift[1], 1);
00158                 ProgramCU::GetColMatch(&_texCRT, _texMatch + 1, distmax, ratiomax);
00159                 _texMatch[1].CopyToHost(buffer2);
00160         }
00161         int nmatch = 0, j ;
00162         for(int i = 0; i < _num_sift[0] && nmatch < max_match; ++i)
00163         {
00164                 j = int(buffer1[i]);
00165                 if( j>= 0 && (!mbm ||int(buffer2[j]) == i))
00166                 {
00167                         match_buffer[nmatch][0] = i;
00168                         match_buffer[nmatch][1] = j;
00169                         nmatch++;
00170                 }
00171         }
00172         return nmatch;
00173 }
00174 
00175 #endif
00176 
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