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00024 #include "GL/glew.h"
00025 #include <iostream>
00026 #include <iomanip>
00027 #include <vector>
00028 #include <strstream>
00029 #include <algorithm>
00030 using namespace std;
00031 #include <string.h>
00032 #include "GlobalUtil.h"
00033
00034 #include "ProgramGLSL.h"
00035 #include "GLTexImage.h"
00036 #include "SiftGPU.h"
00037 #include "SiftMatch.h"
00038 #include "FrameBufferObject.h"
00039
00040 #if defined(CUDA_SIFTGPU_ENABLED)
00041 #include "CuTexImage.h"
00042 #include "SiftMatchCU.h"
00043 #endif
00044
00045
00046 SiftMatchGL::SiftMatchGL(int max_sift, int use_glsl): SiftMatchGPU()
00047 {
00048 s_multiply = s_col_max = s_row_max = s_guided_mult = NULL;
00049 _num_sift[0] = _num_sift[1] = 0;
00050 _id_sift[0] = _id_sift[1] = 0;
00051 _have_loc[0] = _have_loc[1] = 0;
00052 _max_sift = max_sift <=0 ? 4096 : ((max_sift + 31)/ 32 * 32) ;
00053 _pixel_per_sift = 32;
00054 _sift_num_stripe = 1;
00055 _sift_per_stripe = 1;
00056 _sift_per_row = _sift_per_stripe * _sift_num_stripe;
00057 _initialized = 0;
00058 }
00059
00060 SiftMatchGL::~SiftMatchGL()
00061 {
00062 if(s_multiply) delete s_multiply;
00063 if(s_guided_mult) delete s_guided_mult;
00064 if(s_col_max) delete s_col_max;
00065 if(s_row_max) delete s_row_max;
00066 }
00067
00068 void SiftMatchGL::SetMaxSift(int max_sift)
00069 {
00070
00071 max_sift = ((max_sift + 31)/32)*32;
00072 if(max_sift > GlobalUtil::_texMaxDimGL) max_sift = GlobalUtil::_texMaxDimGL;
00073 if(max_sift > _max_sift)
00074 {
00075 _max_sift = max_sift;
00076 AllocateSiftMatch();
00077 _have_loc[0] = _have_loc[1] = 0;
00078 _id_sift[0] = _id_sift[1] = -1;
00079 _num_sift[0] = _num_sift[1] = 1;
00080 }else
00081 {
00082 _max_sift = max_sift;
00083 }
00084
00085 }
00086
00087 void SiftMatchGL::AllocateSiftMatch()
00088 {
00089
00090 if(_max_sift > GlobalUtil::_texMaxDimGL) _max_sift = GlobalUtil::_texMaxDimGL;
00092 int h = _max_sift / _sift_per_row;
00093 int n = (GlobalUtil::_texMaxDimGL + h - 1) / GlobalUtil::_texMaxDimGL;
00094 if ( n > 1) {_sift_num_stripe *= n; _sift_per_row *= n; }
00095
00096
00097
00098 _texDes[0].InitTexture(_sift_per_row * _pixel_per_sift, _max_sift / _sift_per_row, 0,GL_RGBA8);
00099 _texDes[1].InitTexture(_sift_per_row * _pixel_per_sift, _max_sift / _sift_per_row, 0, GL_RGBA8);
00100 _texLoc[0].InitTexture(_sift_per_row , _max_sift / _sift_per_row, 0);
00101 _texLoc[1].InitTexture(_sift_per_row , _max_sift / _sift_per_row, 0);
00102
00103 if(GlobalUtil::_SupportNVFloat || GlobalUtil::_SupportTextureRG)
00104 {
00105
00106 #ifndef GL_R32F
00107 #define GL_R32F 0x822E
00108 #endif
00109 GLuint format = GlobalUtil::_SupportNVFloat ? GL_FLOAT_R_NV : GL_R32F;
00110 _texDot.InitTexture(_max_sift, _max_sift, 0, format);
00111 _texMatch[0].InitTexture(16, _max_sift / 16, 0, format);
00112 _texMatch[1].InitTexture(16, _max_sift / 16, 0, format);
00113 }else
00114 {
00115 _texDot.InitTexture(_max_sift, _max_sift, 0);
00116 _texMatch[0].InitTexture(16, _max_sift / 16, 0);
00117 _texMatch[1].InitTexture(16, _max_sift / 16, 0);
00118 }
00119
00120 }
00121 void SiftMatchGL::InitSiftMatch()
00122 {
00123 if(_initialized) return;
00124 GlobalUtil::InitGLParam(0);
00125 if(GlobalUtil::_GoodOpenGL == 0) return;
00126 AllocateSiftMatch();
00127 LoadSiftMatchShadersGLSL();
00128 _initialized = 1;
00129 }
00130
00131
00132 void SiftMatchGL::SetDescriptors(int index, int num, const unsigned char* descriptors, int id)
00133 {
00134 if(_initialized == 0) return;
00135 if (index > 1) index = 1;
00136 if (index < 0) index = 0;
00137 _have_loc[index] = 0;
00138
00139
00140 if(id !=-1 && id == _id_sift[index]) return ;
00141 _id_sift[index] = id;
00142
00143 if(num > _max_sift) num = _max_sift;
00144
00145 sift_buffer.resize(num * 128 /4);
00146 memcpy(&sift_buffer[0], descriptors, 128 * num);
00147 _num_sift[index] = num;
00148 int w = _sift_per_row * _pixel_per_sift;
00149 int h = (num + _sift_per_row - 1)/ _sift_per_row;
00150 sift_buffer.resize(w * h * 4, 0);
00151 _texDes[index].SetImageSize(w , h);
00152 _texDes[index].BindTex();
00153 if(_sift_num_stripe == 1)
00154 {
00155 glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, w, h, GL_RGBA, GL_UNSIGNED_BYTE, &sift_buffer[0]);
00156 }else
00157 {
00158 for(int i = 0; i < _sift_num_stripe; ++i)
00159 {
00160 int ws = _sift_per_stripe * _pixel_per_sift;
00161 int x = i * ws;
00162 int pos = i * ws * h * 4;
00163 glTexSubImage2D(GlobalUtil::_texTarget, 0, x, 0, ws, h, GL_RGBA, GL_UNSIGNED_BYTE, &sift_buffer[pos]);
00164 }
00165 }
00166 _texDes[index].UnbindTex();
00167
00168 }
00169
00170 void SiftMatchGL::SetFeautreLocation(int index, const float* locations, int gap)
00171 {
00172 if(_num_sift[index] <=0) return;
00173 int w = _sift_per_row ;
00174 int h = (_num_sift[index] + _sift_per_row - 1)/ _sift_per_row;
00175 sift_buffer.resize(_num_sift[index] * 2);
00176 if(gap == 0)
00177 {
00178 memcpy(&sift_buffer[0], locations, _num_sift[index] * 2 * sizeof(float));
00179 }else
00180 {
00181 for(int i = 0; i < _num_sift[index]; ++i)
00182 {
00183 sift_buffer[i*2] = *locations++;
00184 sift_buffer[i*2+1]= *locations ++;
00185 locations += gap;
00186 }
00187 }
00188 sift_buffer.resize(w * h * 2, 0);
00189 _texLoc[index].SetImageSize(w , h);
00190 _texLoc[index].BindTex();
00191 if(_sift_num_stripe == 1)
00192 {
00193 glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, w, h, GL_LUMINANCE_ALPHA , GL_FLOAT , &sift_buffer[0]);
00194 }else
00195 {
00196 for(int i = 0; i < _sift_num_stripe; ++i)
00197 {
00198 int ws = _sift_per_stripe;
00199 int x = i * ws;
00200 int pos = i * ws * h * 2;
00201 glTexSubImage2D(GlobalUtil::_texTarget, 0, x, 0, ws, h, GL_LUMINANCE_ALPHA , GL_FLOAT, &sift_buffer[pos]);
00202 }
00203 }
00204 _texLoc[index].UnbindTex();
00205 _have_loc[index] = 1;
00206 }
00207
00208 void SiftMatchGL::SetDescriptors(int index, int num, const float* descriptors, int id)
00209 {
00210 if(_initialized == 0) return;
00211 if (index > 1) index = 1;
00212 if (index < 0) index = 0;
00213 _have_loc[index] = 0;
00214
00215
00216 if(id !=-1 && id == _id_sift[index]) return ;
00217 _id_sift[index] = id;
00218
00219 if(num > _max_sift) num = _max_sift;
00220
00221 sift_buffer.resize(num * 128 /4);
00222 unsigned char * pub = (unsigned char*) &sift_buffer[0];
00223 for(int i = 0; i < 128 * num; ++i)
00224 {
00225 pub[i] = int(512 * descriptors[i] + 0.5);
00226 }
00227 _num_sift[index] = num;
00228 int w = _sift_per_row * _pixel_per_sift;
00229 int h = (num + _sift_per_row - 1)/ _sift_per_row;
00230 sift_buffer.resize(w * h * 4, 0);
00231 _texDes[index].SetImageSize(w, h);
00232 _texDes[index].BindTex();
00233 if(_sift_num_stripe == 1)
00234 {
00235 glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, w, h, GL_RGBA, GL_UNSIGNED_BYTE, &sift_buffer[0]);
00236 }else
00237 {
00238 for(int i = 0; i < _sift_num_stripe; ++i)
00239 {
00240 int ws = _sift_per_stripe * _pixel_per_sift;
00241 int x = i * ws;
00242 int pos = i * ws * h * 4;
00243 glTexSubImage2D(GlobalUtil::_texTarget, 0, x, 0, ws, h, GL_RGBA, GL_UNSIGNED_BYTE, &sift_buffer[pos]);
00244 }
00245 }
00246 _texDes[index].UnbindTex();
00247 }
00248
00249
00250 void SiftMatchGL::LoadSiftMatchShadersGLSL()
00251 {
00252 ProgramGLSL * program;
00253 char buffer[10240];
00254 ostrstream out(buffer, 10240);
00255 if(GlobalUtil::_IsNvidia)
00256 out << "#pragma optionNV(ifcvt none)\n"
00257 "#pragma optionNV(unroll all)\n";
00258
00259 out << "#define SIFT_PER_STRIPE " << _sift_per_stripe << ".0\n"
00260 "#define PIXEL_PER_SIFT " << _pixel_per_sift << "\n"
00261 "uniform sampler2DRect tex1, tex2; uniform vec2 size;\n"
00262 "void main() \n"
00263 "{\n"
00264 << " vec4 val = vec4(0, 0, 0, 0), data1, buf;\n"
00265 " vec2 index = gl_FragCoord.yx; \n"
00266 " vec2 stripe_size = size.xy * SIFT_PER_STRIPE;\n"
00267 " vec2 temp_div1 = index / stripe_size;\n"
00268 " vec2 stripe_index = floor(temp_div1);\n"
00269 " index = floor(stripe_size * (temp_div1 - stripe_index));\n"
00270 " vec2 temp_div2 = index * vec2(1.0 / float(SIFT_PER_STRIPE));\n"
00271 " vec2 temp_floor2 = floor(temp_div2);\n"
00272 " vec2 index_v = temp_floor2 + vec2(0.5);\n "
00273 " vec2 index_h = vec2(SIFT_PER_STRIPE)* (temp_div2 - temp_floor2);\n"
00274 " vec2 tx = (index_h + stripe_index * vec2(SIFT_PER_STRIPE))* vec2(PIXEL_PER_SIFT) + 0.5;\n"
00275 " vec2 tpos1, tpos2; \n"
00276 " vec4 tpos = vec4(tx, index_v);\n"
00278 " for(int i = 0; i < PIXEL_PER_SIFT; ++i){\n"
00279 " buf = texture2DRect(tex2, tpos.yw);\n"
00280 " data1 = texture2DRect(tex1, tpos.xz);\n"
00281 " val += (data1 * buf);\n"
00282 " tpos.xy = tpos.xy + vec2(1.0, 1.0);\n"
00283 " }\n"
00284 " const float factor = 0.248050689697265625; \n"
00285 " gl_FragColor =vec4(dot(val, vec4(factor)), index, 0);\n"
00286 "}"
00287 << '\0';
00288
00289 s_multiply = program= new ProgramGLSL(buffer);
00290
00291 _param_multiply_tex1 = glGetUniformLocation(*program, "tex1");
00292 _param_multiply_tex2 = glGetUniformLocation(*program, "tex2");
00293 _param_multiply_size = glGetUniformLocation(*program, "size");
00294
00295 out.seekp(ios::beg);
00296 if(GlobalUtil::_IsNvidia)
00297 out << "#pragma optionNV(ifcvt none)\n"
00298 "#pragma optionNV(unroll all)\n";
00299
00300 out << "#define SIFT_PER_STRIPE " << _sift_per_stripe << ".0\n"
00301 "#define PIXEL_PER_SIFT " << _pixel_per_sift << "\n"
00302 "uniform sampler2DRect tex1, tex2;\n"
00303 "uniform sampler2DRect texL1;\n"
00304 "uniform sampler2DRect texL2; \n"
00305 "uniform mat3 H; \n"
00306 "uniform mat3 F; \n"
00307 "uniform vec4 size; \n"
00308 "void main() \n"
00309 "{\n"
00310 << " vec4 val = vec4(0, 0, 0, 0), data1, buf;\n"
00311 " vec2 index = gl_FragCoord.yx; \n"
00312 " vec2 stripe_size = size.xy * SIFT_PER_STRIPE;\n"
00313 " vec2 temp_div1 = index / stripe_size;\n"
00314 " vec2 stripe_index = floor(temp_div1);\n"
00315 " index = floor(stripe_size * (temp_div1 - stripe_index));\n"
00316 " vec2 temp_div2 = index * vec2(1.0/ float(SIFT_PER_STRIPE));\n"
00317 " vec2 temp_floor2 = floor(temp_div2);\n"
00318 " vec2 index_v = temp_floor2 + vec2(0.5);\n "
00319 " vec2 index_h = vec2(SIFT_PER_STRIPE)* (temp_div2 - temp_floor2);\n"
00320
00321
00322 " vec4 tlpos = vec4((index_h + stripe_index * vec2(SIFT_PER_STRIPE)) + 0.5, index_v);\n"
00323 " vec3 loc1 = vec3(texture2DRect(texL1, tlpos.xz).xw, 1.0);\n"
00324 " vec3 loc2 = vec3(texture2DRect(texL2, tlpos.yw).xw, 1.0);\n"
00325
00326
00327 " vec3 hxloc1 = H* loc1;\n"
00328 " vec2 diff = abs(loc2.xy- (hxloc1.xy/hxloc1.z));\n"
00329 " float disth = max(diff.x, diff.y);\n"
00330 " if(disth > size.z ) {gl_FragColor = vec4(0, index, 0); return;}\n"
00331
00332
00333 " vec3 fx1 = (F * loc1), ftx2 = (loc2 * F);\n"
00334 " float x2tfx1 = dot(loc2, fx1);\n"
00335 " vec4 temp = vec4(fx1.xy, ftx2.xy); \n"
00336 " float sampson_error = (x2tfx1 * x2tfx1) / dot(temp, temp);\n"
00337 " if(sampson_error > size.w) {gl_FragColor = vec4(0, index, 0); return;}\n"
00338
00339
00340 " vec2 tx = (index_h + stripe_index * SIFT_PER_STRIPE)* vec2(PIXEL_PER_SIFT) + 0.5;\n"
00341 " vec2 tpos1, tpos2; \n"
00342 " vec4 tpos = vec4(tx, index_v);\n"
00343 " for(int i = 0; i < PIXEL_PER_SIFT; ++i){\n"
00344 " buf = texture2DRect(tex2, tpos.yw);\n"
00345 " data1 = texture2DRect(tex1, tpos.xz);\n"
00346 " val += data1 * buf;\n"
00347 " tpos.xy = tpos.xy + vec2(1.0, 1.0);\n"
00348 " }\n"
00349 " const float factor = 0.248050689697265625; \n"
00350 " gl_FragColor =vec4(dot(val, vec4(factor)), index, 0);\n"
00351 "}"
00352 << '\0';
00353
00354 s_guided_mult = program= new ProgramGLSL(buffer);
00355
00356 _param_guided_mult_tex1 = glGetUniformLocation(*program, "tex1");
00357 _param_guided_mult_tex2= glGetUniformLocation(*program, "tex2");
00358 _param_guided_mult_texl1 = glGetUniformLocation(*program, "texL1");
00359 _param_guided_mult_texl2 = glGetUniformLocation(*program, "texL2");
00360 _param_guided_mult_h = glGetUniformLocation(*program, "H");
00361 _param_guided_mult_f = glGetUniformLocation(*program, "F");
00362 _param_guided_mult_param = glGetUniformLocation(*program, "size");
00363
00364
00365 out.seekp(ios::beg);
00366 out << "#define BLOCK_WIDTH 16.0\n"
00367 "uniform sampler2DRect tex; uniform vec3 param;\n"
00368 "void main ()\n"
00369 "{\n"
00370 " float index = gl_FragCoord.x + floor(gl_FragCoord.y) * BLOCK_WIDTH; \n"
00371 " vec2 bestv = vec2(-1.0); float imax = -1.0;\n"
00372 " for(float i = 0.0; i < param.x; i ++){\n "
00373 " float v = texture2DRect(tex, vec2(i + 0.5, index)).r; \n"
00374 " imax = v > bestv.r ? i : imax; \n "
00375 " bestv = v > bestv.r? vec2(v, bestv.r) : max(bestv, vec2(v));\n "
00376 " }\n"
00377 " bestv = acos(min(bestv, 1.0));\n"
00378 " if(bestv.x >= param.y || bestv.x >= param.z * bestv.y) imax = -1.0;\n"
00379 " gl_FragColor = vec4(imax, bestv, index);\n"
00380 "}"
00381 << '\0';
00382 s_row_max = program= new ProgramGLSL(buffer);
00383 _param_rowmax_param = glGetUniformLocation(*program, "param");
00384
00385 out.seekp(ios::beg);
00386 out << "#define BLOCK_WIDTH 16.0\n"
00387 "uniform sampler2DRect tex; uniform vec3 param;\n"
00388 "void main ()\n"
00389 "{\n"
00390 " float index = gl_FragCoord.x + floor(gl_FragCoord.y) * BLOCK_WIDTH; \n"
00391 " vec2 bestv = vec2(-1.0); float imax = -1.0;\n"
00392 " for(float i = 0.0; i < param.x; i ++){\n "
00393 " float v = texture2DRect(tex, vec2(index, i + 0.5)).r; \n"
00394 " imax = (v > bestv.r)? i : imax; \n "
00395 " bestv = v > bestv.r? vec2(v, bestv.r) : max(bestv, vec2(v));\n "
00396 " }\n"
00397 " bestv = acos(min(bestv, 1.0));\n"
00398 " if(bestv.x >= param.y || bestv.x >= param.z * bestv.y) imax = -1.0;\n"
00399 " gl_FragColor = vec4(imax, bestv, index);\n"
00400 "}"
00401 << '\0';
00402 s_col_max = program =new ProgramGLSL(buffer);
00403 _param_colmax_param = glGetUniformLocation(*program, "param");
00404
00405
00406 }
00407
00408 int SiftMatchGL::GetGuidedSiftMatch(int max_match, int match_buffer[][2], float H[3][3], float F[3][3],
00409 float distmax, float ratiomax, float hdistmax, float fdistmax, int mbm)
00410 {
00411
00412 int dw = _num_sift[1];
00413 int dh = _num_sift[0];
00414 if(_initialized ==0) return 0;
00415 if(dw <= 0 || dh <=0) return 0;
00416 if(_have_loc[0] == 0 || _have_loc[1] == 0) return 0;
00417
00418 FrameBufferObject fbo;
00419 glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT);
00420 _texDot.SetImageSize(dw, dh);
00421
00422
00423
00424 _texDot.AttachToFBO(0);
00425 _texDot.FitTexViewPort();
00426 glActiveTexture(GL_TEXTURE0);
00427 _texDes[0].BindTex();
00428 glActiveTexture(GL_TEXTURE1);
00429 _texDes[1].BindTex();
00430 glActiveTexture(GL_TEXTURE2);
00431 _texLoc[0].BindTex();
00432 glActiveTexture(GL_TEXTURE3);
00433 _texLoc[1].BindTex();
00434
00435
00436 s_guided_mult->UseProgram();
00437
00438
00439
00440 float dot_param[4] = {(float)_texDes[0].GetDrawHeight(), (float) _texDes[1].GetDrawHeight(), hdistmax, fdistmax};
00441 glUniform1i(_param_guided_mult_tex1, 0);
00442 glUniform1i(_param_guided_mult_tex2, 1);
00443 glUniform1i(_param_guided_mult_texl1, 2);
00444 glUniform1i(_param_guided_mult_texl2, 3);
00445 glUniformMatrix3fv(_param_guided_mult_h, 1, GL_TRUE, H[0]);
00446 glUniformMatrix3fv(_param_guided_mult_f, 1, GL_TRUE, F[0]);
00447 glUniform4fv(_param_guided_mult_param, 1, dot_param);
00448
00449 _texDot.DrawQuad();
00450
00451 GLTexImage::UnbindMultiTex(4);
00452
00453 return GetBestMatch(max_match, match_buffer, distmax, ratiomax, mbm);
00454 }
00455
00456 int SiftMatchGL::GetBestMatch(int max_match, int match_buffer[][2], float distmax, float ratiomax, int mbm)
00457 {
00458
00459 glActiveTexture(GL_TEXTURE0);
00460 _texDot.BindTex();
00461
00462
00463 sift_buffer.resize(_num_sift[0] + _num_sift[1] + 16);
00464 float * buffer1 = &sift_buffer[0], * buffer2 = &sift_buffer[_num_sift[0]];
00465
00466
00467 _texMatch[0].AttachToFBO(0);
00468 _texMatch[0].SetImageSize(16, ( _num_sift[0] + 15) / 16);
00469 _texMatch[0].FitTexViewPort();
00470
00472 s_row_max->UseProgram();
00473 glUniform3f(_param_rowmax_param, (float)_num_sift[1], distmax, ratiomax);
00474
00475 _texMatch[0].DrawQuad();
00476 glReadPixels(0, 0, 16, (_num_sift[0] + 15)/16, GL_RED, GL_FLOAT, buffer1);
00477
00478
00479 if(mbm)
00480 {
00481 _texMatch[1].AttachToFBO(0);
00482 _texMatch[1].SetImageSize(16, (_num_sift[1] + 15) / 16);
00483 _texMatch[1].FitTexViewPort();
00484
00485 s_col_max->UseProgram();
00486 glUniform3f(_param_rowmax_param, (float)_num_sift[0], distmax, ratiomax);
00487 _texMatch[1].DrawQuad();
00488 glReadPixels(0, 0, 16, (_num_sift[1] + 15) / 16, GL_RED, GL_FLOAT, buffer2);
00489 }
00490
00491
00492
00493 glUseProgram(0);
00494
00495 GLTexImage::UnbindMultiTex(2);
00496 GlobalUtil::CleanupOpenGL();
00497
00498
00499 int nmatch = 0, j ;
00500 for(int i = 0; i < _num_sift[0] && nmatch < max_match; ++i)
00501 {
00502 j = int(buffer1[i]);
00503 if( j>= 0 && (!mbm ||int(buffer2[j]) == i))
00504 {
00505 match_buffer[nmatch][0] = i;
00506 match_buffer[nmatch][1] = j;
00507 nmatch++;
00508 }
00509 }
00510 return nmatch;
00511 }
00512
00513 int SiftMatchGL::GetSiftMatch(int max_match, int match_buffer[][2], float distmax, float ratiomax, int mbm)
00514 {
00515 int dw = _num_sift[1];
00516 int dh = _num_sift[0];
00517 if(_initialized ==0) return 0;
00518 if(dw <= 0 || dh <=0) return 0;
00519
00520 FrameBufferObject fbo;
00521 glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT);
00522 _texDot.SetImageSize(dw, dh);
00523
00524
00525 _texDot.AttachToFBO(0);
00526 _texDot.FitTexViewPort();
00527 glActiveTexture(GL_TEXTURE0);
00528 _texDes[0].BindTex();
00529 glActiveTexture(GL_TEXTURE1);
00530 _texDes[1].BindTex();
00531
00533
00534 s_multiply->UseProgram();
00535
00536 float heights[2] = {(float)_texDes[0].GetDrawHeight(), (float)_texDes[1].GetDrawHeight()};
00537
00538 glUniform1i(_param_multiply_tex1, 0);
00539 glUniform1i(_param_multiply_tex2 , 1);
00540 glUniform2fv(_param_multiply_size, 1, heights);
00541
00542 _texDot.DrawQuad();
00543
00544 glActiveTexture(GL_TEXTURE1);
00545 glBindTexture(GlobalUtil::_texTarget, 0);
00546
00547 return GetBestMatch(max_match, match_buffer, distmax, ratiomax, mbm);
00548 }
00549
00550
00551 int SiftMatchGPU::_CreateContextGL()
00552 {
00553
00554 if (__language >= SIFTMATCH_CUDA) {}
00555 else if(!GlobalUtil::CreateWindowEZ())
00556 {
00557 #if CUDA_SIFTGPU_ENABLED
00558 __language = SIFTMATCH_CUDA;
00559 #else
00560 return 0;
00561 #endif
00562 }
00563 return VerifyContextGL();
00564 }
00565
00566
00567 int SiftMatchGPU::_VerifyContextGL()
00568 {
00569 if(__matcher) return GlobalUtil::_GoodOpenGL;
00570
00571 #ifdef CUDA_SIFTGPU_ENABLED
00572
00573 if(__language >= SIFTMATCH_CUDA) {}
00574 else if(__language == SIFTMATCH_SAME_AS_SIFTGPU && GlobalUtil::_UseCUDA){}
00575 else GlobalUtil::InitGLParam(0);
00576 if(GlobalUtil::_GoodOpenGL == 0) __language = SIFTMATCH_CUDA;
00577
00578 if(((__language == SIFTMATCH_SAME_AS_SIFTGPU && GlobalUtil::_UseCUDA) || __language >= SIFTMATCH_CUDA)
00579 && SiftMatchCU::CheckCudaDevice (GlobalUtil::_DeviceIndex))
00580 {
00581 __language = SIFTMATCH_CUDA;
00582 __matcher = new SiftMatchCU(__max_sift);
00583 }else
00584 #else
00585 if((__language == SIFTMATCH_SAME_AS_SIFTGPU && GlobalUtil::_UseCUDA) || __language >= SIFTMATCH_CUDA)
00586 {
00587 std::cerr << "---------------------------------------------------------------------------\n"
00588 << "CUDA not supported in this binary! To enable it, please use SiftGPU_CUDA_Enable\n"
00589 << "Project for VS2005+ or set siftgpu_enable_cuda to 1 in makefile\n"
00590 << "----------------------------------------------------------------------------\n";
00591 }
00592 #endif
00593 {
00594 __language = SIFTMATCH_GLSL;
00595 __matcher = new SiftMatchGL(__max_sift, 1);
00596 }
00597
00598 if(GlobalUtil::_verbose)
00599 std::cout << "[SiftMatchGPU]: " << (__language == SIFTMATCH_CUDA? "CUDA" : "GLSL") <<"\n\n";
00600
00601 __matcher->InitSiftMatch();
00602 return GlobalUtil::_GoodOpenGL;
00603 }
00604
00605 void* SiftMatchGPU::operator new (size_t size){
00606 void * p = malloc(size);
00607 if (p == 0)
00608 {
00609 const std::bad_alloc ba;
00610 throw ba;
00611 }
00612 return p;
00613 }
00614
00615
00616 SiftMatchGPU::SiftMatchGPU(int max_sift)
00617 {
00618 __max_sift = max(max_sift, 1024);
00619 __language = 0;
00620 __matcher = NULL;
00621 }
00622
00623 void SiftMatchGPU::SetLanguage(int language)
00624 {
00625 if(__matcher) return;
00627 #ifdef CUDA_SIFTGPU_ENABLED
00628 if(language >= SIFTMATCH_CUDA) GlobalUtil::_DeviceIndex = language - SIFTMATCH_CUDA;
00629 #endif
00630 __language = language > SIFTMATCH_CUDA ? SIFTMATCH_CUDA : language;
00631 }
00632
00633 void SiftMatchGPU::SetDeviceParam(int argc, char**argv)
00634 {
00635 if(__matcher) return;
00636 GlobalUtil::SetDeviceParam(argc, argv);
00637 }
00638
00639 void SiftMatchGPU::SetMaxSift(int max_sift)
00640 {
00641 if(__matcher) __matcher->SetMaxSift(max(128, max_sift));
00642 else __max_sift = max(128, max_sift);
00643 }
00644
00645 SiftMatchGPU::~SiftMatchGPU()
00646 {
00647 if(__matcher) delete __matcher;
00648 }
00649
00650 void SiftMatchGPU::SetDescriptors(int index, int num, const unsigned char* descriptors, int id)
00651 {
00652 __matcher->SetDescriptors(index, num, descriptors, id);
00653 }
00654
00655 void SiftMatchGPU::SetDescriptors(int index, int num, const float* descriptors, int id)
00656 {
00657 __matcher->SetDescriptors(index, num, descriptors, id);
00658 }
00659
00660 void SiftMatchGPU::SetFeautreLocation(int index, const float* locations, int gap)
00661 {
00662 __matcher->SetFeautreLocation(index, locations, gap);
00663
00664 }
00665 int SiftMatchGPU::GetGuidedSiftMatch(int max_match, int match_buffer[][2], float H[3][3], float F[3][3],
00666 float distmax, float ratiomax, float hdistmax, float fdistmax, int mutual_best_match)
00667 {
00668 if(H == NULL && F == NULL)
00669 {
00670 return __matcher->GetSiftMatch(max_match, match_buffer, distmax, ratiomax, mutual_best_match);
00671 }else
00672 {
00673 float Z[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}, ti = (1.0e+20F);
00674
00675 return __matcher->GetGuidedSiftMatch(max_match, match_buffer, H? H : Z, F? F : Z,
00676 distmax, ratiomax, H? hdistmax: ti, F? fdistmax: ti, mutual_best_match);
00677 }
00678 }
00679
00680 int SiftMatchGPU::GetSiftMatch(int max_match, int match_buffer[][2], float distmax, float ratiomax, int mutual_best_match)
00681 {
00682 return __matcher->GetSiftMatch(max_match, match_buffer, distmax, ratiomax, mutual_best_match);
00683 }
00684
00685 SiftMatchGPU* CreateNewSiftMatchGPU(int max_sift)
00686 {
00687 return new SiftMatchGPU(max_sift);
00688 }
00689
