PyramidCU.cpp

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//      File:           PyramidCU.cpp
//      Author:         Changchang Wu
//      Description : implementation of the PyramidCU class.
//                              CUDA-based implementation of SiftPyramid
//
//      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
//

#if defined(CUDA_SIFTGPU_ENABLED)


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

#include "GlobalUtil.h"
#include "GLTexImage.h"
#include "CuTexImage.h" 
#include "SiftGPU.h"
#include "SiftPyramid.h"
#include "ProgramCU.h"
#include "PyramidCU.h"


//#include "imdebug/imdebuggl.h"
//#pragma comment (lib, "../lib/imdebug.lib")



#define USE_TIMING()            double t, t0, tt;
#define OCTAVE_START()          if(GlobalUtil::_timingO){       t = t0 = CLOCK();       cout<<"#"<<i+_down_sample_factor<<"\t"; }
#define LEVEL_FINISH()          if(GlobalUtil::_timingL){       ProgramCU::FinishCUDA();        tt = CLOCK();cout<<(tt-t)<<"\t";        t = CLOCK();}
#define OCTAVE_FINISH()         if(GlobalUtil::_timingO)cout<<"|\t"<<(CLOCK()-t0)<<endl;


PyramidCU::PyramidCU(SiftParam& sp) : SiftPyramid(sp)
{
        _allPyramid = NULL;
        _histoPyramidTex = NULL;
        _featureTex = NULL;
        _descriptorTex = NULL;
        _orientationTex = NULL;
        _bufferPBO = 0;
    _bufferTEX = NULL;
        _inputTex = new CuTexImage();

    InitializeContext();
}

PyramidCU::~PyramidCU()
{
        DestroyPerLevelData();
        DestroySharedData();
        DestroyPyramidData();
        if(_inputTex) delete _inputTex;
    if(_bufferPBO) glDeleteBuffers(1, &_bufferPBO);
    if(_bufferTEX) delete _bufferTEX;
}

void PyramidCU::InitializeContext()
{
    GlobalUtil::InitGLParam(1);
    GlobalUtil::_GoodOpenGL = max(GlobalUtil::_GoodOpenGL, 1); 
}

void PyramidCU::InitPyramid(int w, int h, int ds)
{
        int wp, hp, toobig = 0;
        if(ds == 0)
        {
                //
                TruncateWidth(w);
                _down_sample_factor = 0;
                if(GlobalUtil::_octave_min_default>=0)
                {
                        wp = w >> _octave_min_default;
                        hp = h >> _octave_min_default;
                }else
                {
                        //can't upsample by more than 8
                        _octave_min_default = max(-3, _octave_min_default);
                        //
                        wp = w << (-_octave_min_default);
                        hp = h << (-_octave_min_default);
                }
                _octave_min = _octave_min_default;
        }else
        {
                //must use 0 as _octave_min; 
                _octave_min = 0;
                _down_sample_factor = ds;
                w >>= ds;
                h >>= ds;

                TruncateWidth(w);

                wp = w;
                hp = h; 

        }

        while(wp > GlobalUtil::_texMaxDim  || hp > GlobalUtil::_texMaxDim )
        {
                _octave_min ++;
                wp >>= 1;
                hp >>= 1;
                toobig = 1;
        }
        if(toobig && GlobalUtil::_verbose && _octave_min > 0)
        {
                std::cout<< "**************************************************************\n"
                                        "Image larger than allowed dimension, data will be downsampled!\n"
                                        "use -maxd to change the settings\n"
                                        "***************************************************************\n";
        }
        //ResizePyramid(wp, hp);
        if( wp == _pyramid_width && hp == _pyramid_height && _allocated )
        {
                FitPyramid(wp, hp);
        }else if(GlobalUtil::_ForceTightPyramid || _allocated ==0)
        {
                ResizePyramid(wp, hp);
        }
        else if( wp > _pyramid_width || hp > _pyramid_height )
        {
                ResizePyramid(max(wp, _pyramid_width), max(hp, _pyramid_height));
                if(wp < _pyramid_width || hp < _pyramid_height)  FitPyramid(wp, hp);
        }
        else
        {
                //try use the pyramid allocated for large image on small input images
                FitPyramid(wp, hp);
        }
}

void PyramidCU::ResizePyramid(int w, int h)
{
        //
        unsigned int totalkb = 0;
        int _octave_num_new, input_sz, i, j;
        //

        if(_pyramid_width == w && _pyramid_height == h && _allocated) return;

        if(w > GlobalUtil::_texMaxDim || h > GlobalUtil::_texMaxDim) return ;

        if(GlobalUtil::_verbose && GlobalUtil::_timingS) std::cout<<"[Allocate Pyramid]:\t" <<w<<"x"<<h<<endl;
        //first octave does not change
        _pyramid_octave_first = 0;

        
        //compute # of octaves

        input_sz = min(w,h) ;
        _pyramid_width =  w;
        _pyramid_height =  h;



        //reset to preset parameters

        _octave_num_new  = GlobalUtil::_octave_num_default;

        if(_octave_num_new < 1) 
        {
                _octave_num_new = (int) floor (log ( double(input_sz))/log(2.0)) -3 ;
                if(_octave_num_new<1 ) _octave_num_new = 1;
        }

        if(_pyramid_octave_num != _octave_num_new)
        {
                //destroy the original pyramid if the # of octave changes
                if(_octave_num >0) 
                {
                        DestroyPerLevelData();
                        DestroyPyramidData();
                }
                _pyramid_octave_num = _octave_num_new;
        }

        _octave_num = _pyramid_octave_num;

        int noct = _octave_num;
        int nlev = param._level_num;

        //      //initialize the pyramid
        if(_allPyramid==NULL)   _allPyramid = new CuTexImage[ noct* nlev * DATA_NUM];

        CuTexImage * gus =  GetBaseLevel(_octave_min, DATA_GAUSSIAN);
        CuTexImage * dog =  GetBaseLevel(_octave_min, DATA_DOG);
        CuTexImage * got =  GetBaseLevel(_octave_min, DATA_GRAD);
        CuTexImage * key =  GetBaseLevel(_octave_min, DATA_KEYPOINT);


        for(i = 0; i< noct; i++)
        {
                int wa = ((w + 3) / 4) * 4;

                totalkb += ((nlev *8 -19)* (wa * h) * 4 / 1024);
                for( j = 0; j< nlev; j++, gus++, dog++, got++, key++)
                {
                        gus->InitTexture(wa, h); //nlev
                        if(j==0)continue;
                        dog->InitTexture(wa, h);  //nlev -1
                        if(     j >= 1 && j < 1 + param._dog_level_num)
                        {
                                got->InitTexture(wa, h, 2); //2 * nlev - 6
                                got->InitTexture2D();
                        }
                        if(j > 1 && j < nlev -1)        key->InitTexture(wa, h, 4); // nlev -3 ; 4 * nlev - 12
                }
                w>>=1;
                h>>=1;
        }

        totalkb += ResizeFeatureStorage();

        if(ProgramCU::CheckErrorCUDA("ResizePyramid")) SetFailStatus(); 

        _allocated = 1;

        if(GlobalUtil::_verbose && GlobalUtil::_timingS) std::cout<<"[Allocate Pyramid]:\t" <<(totalkb/1024)<<"MB\n";

}

void PyramidCU::FitPyramid(int w, int h)
{
        _pyramid_octave_first = 0;
        //
        _octave_num  = GlobalUtil::_octave_num_default;

        int _octave_num_max = max(1, (int) floor (log ( double(min(w, h)))/log(2.0))  -3 );

        if(_octave_num < 1 || _octave_num > _octave_num_max) 
        {
                _octave_num = _octave_num_max;
        }


        int pw = _pyramid_width>>1, ph = _pyramid_height>>1;
        while(_pyramid_octave_first + _octave_num < _pyramid_octave_num &&  
                pw >= w && ph >= h)
        {
                _pyramid_octave_first++;
                pw >>= 1;
                ph >>= 1;
        }

        int nlev = param._level_num;
        CuTexImage * gus =  GetBaseLevel(_octave_min, DATA_GAUSSIAN);
        CuTexImage * dog =  GetBaseLevel(_octave_min, DATA_DOG);
        CuTexImage * got =  GetBaseLevel(_octave_min, DATA_GRAD);
        CuTexImage * key =  GetBaseLevel(_octave_min, DATA_KEYPOINT);
        for(int i = 0; i< _octave_num; i++)
        {
                int wa = ((w + 3) / 4) * 4;

                for(int j = 0; j< nlev; j++, gus++, dog++, got++, key++)
                {
                        gus->InitTexture(wa, h); //nlev
                        if(j==0)continue;
                        dog->InitTexture(wa, h);  //nlev -1
                        if(     j >= 1 && j < 1 + param._dog_level_num)
                        {
                                got->InitTexture(wa, h, 2); //2 * nlev - 6
                                got->InitTexture2D();
                        }
                        if(j > 1 && j < nlev -1)        key->InitTexture(wa, h, 4); // nlev -3 ; 4 * nlev - 12
                }
                w>>=1;
                h>>=1;
        }
}

int PyramidCU::CheckCudaDevice(int device)
{
    return ProgramCU::CheckCudaDevice(device);
}

void PyramidCU::SetLevelFeatureNum(int idx, int fcount)
{
        _featureTex[idx].InitTexture(fcount, 1, 4);
        _levelFeatureNum[idx] = fcount;
}

int PyramidCU::ResizeFeatureStorage()
{
        int totalkb = 0;
        if(_levelFeatureNum==NULL)      _levelFeatureNum = new int[_octave_num * param._dog_level_num];
        std::fill(_levelFeatureNum, _levelFeatureNum+_octave_num * param._dog_level_num, 0); 

        int wmax = GetBaseLevel(_octave_min)->GetImgWidth();
        int hmax = GetBaseLevel(_octave_min)->GetImgHeight();
        int whmax = max(wmax, hmax);
        int w,  i;

        //
        int num = (int)ceil(log(double(whmax))/log(4.0));

        if( _hpLevelNum != num)
        {
                _hpLevelNum = num;
                if(_histoPyramidTex ) delete [] _histoPyramidTex;
                _histoPyramidTex = new CuTexImage[_hpLevelNum];
        }

        for(i = 0, w = 1; i < _hpLevelNum; i++)
        {
                _histoPyramidTex[i].InitTexture(w, whmax, 4);
                w<<=2;
        }

        // (4 ^ (_hpLevelNum) -1 / 3) pixels
        totalkb += (((1 << (2 * _hpLevelNum)) -1) / 3 * 16 / 1024);

        //initialize the feature texture
        int idx = 0, n = _octave_num * param._dog_level_num;
        if(_featureTex==NULL)   _featureTex = new CuTexImage[n];
        if(GlobalUtil::_MaxOrientation >1 && GlobalUtil::_OrientationPack2==0 && _orientationTex== NULL)
                _orientationTex = new CuTexImage[n];


        for(i = 0; i < _octave_num; i++)
        {
                CuTexImage * tex = GetBaseLevel(i+_octave_min);
                int fmax = int(tex->GetImgWidth() * tex->GetImgHeight()*GlobalUtil::_MaxFeaturePercent);
                //
                if(fmax > GlobalUtil::_MaxLevelFeatureNum) fmax = GlobalUtil::_MaxLevelFeatureNum;
                else if(fmax < 32) fmax = 32;   //give it at least a space of 32 feature

                for(int j = 0; j < param._dog_level_num; j++, idx++)
                {
                        _featureTex[idx].InitTexture(fmax, 1, 4);
                        totalkb += fmax * 16 /1024;
                        //
                        if(GlobalUtil::_MaxOrientation>1 && GlobalUtil::_OrientationPack2 == 0)
                        {
                                _orientationTex[idx].InitTexture(fmax, 1, 4);
                                totalkb += fmax * 16 /1024;
                        }
                }
        }


        //this just need be initialized once
        if(_descriptorTex==NULL)
        {
                //initialize feature texture pyramid
                int fmax = _featureTex->GetImgWidth();
                _descriptorTex = new CuTexImage;
                totalkb += ( fmax /2);
                _descriptorTex->InitTexture(fmax *128, 1, 1);
        }else
        {
                totalkb +=  _descriptorTex->GetDataSize()/1024;
        }
        return totalkb;
}

void PyramidCU::GetFeatureDescriptors() 
{
        //descriptors...
        float* pd =  &_descriptor_buffer[0];
        vector<float> descriptor_buffer2;

        //use another buffer if we need to re-order the descriptors
        if(_keypoint_index.size() > 0)
        {
                descriptor_buffer2.resize(_descriptor_buffer.size());
                pd = &descriptor_buffer2[0];
        }

        CuTexImage * got, * ftex= _featureTex;
        for(int i = 0, idx = 0; i < _octave_num; i++)
        {
                got = GetBaseLevel(i + _octave_min, DATA_GRAD) + 1;
                for(int j = 0; j < param._dog_level_num; j++, ftex++, idx++, got++)
                {
                        if(_levelFeatureNum[idx]==0) continue;
            ProgramCU::ComputeDescriptor(ftex, got, _descriptorTex, IsUsingRectDescription());//process
                        _descriptorTex->CopyToHost(pd); //readback descriptor
                        pd += 128*_levelFeatureNum[idx];
                }
        }

        if(GlobalUtil::_timingS) ProgramCU::FinishCUDA();

        if(_keypoint_index.size() > 0)
        {
            //put the descriptor back to the original order for keypoint list.
                for(int i = 0; i < _featureNum; ++i)
                {
                        int index = _keypoint_index[i];
                        memcpy(&_descriptor_buffer[index*128], &descriptor_buffer2[i*128], 128 * sizeof(float));
                }
        }

        if(ProgramCU::CheckErrorCUDA("PyramidCU::GetFeatureDescriptors")) SetFailStatus(); 
}

void PyramidCU::GenerateFeatureListTex() 
{

        vector<float> list;
        int idx = 0;
        const double twopi = 2.0*3.14159265358979323846;
        float sigma_half_step = powf(2.0f, 0.5f / param._dog_level_num);
        float octave_sigma = _octave_min>=0? float(1<<_octave_min): 1.0f/(1<<(-_octave_min));
        float offset = GlobalUtil::_LoweOrigin? 0 : 0.5f; 
        if(_down_sample_factor>0) octave_sigma *= float(1<<_down_sample_factor); 

        _keypoint_index.resize(0); // should already be 0
        for(int i = 0; i < _octave_num; i++, octave_sigma*= 2.0f)
        {
                for(int j = 0; j < param._dog_level_num; j++, idx++)
                {
                        list.resize(0);
                        float level_sigma = param.GetLevelSigma(j + param._level_min + 1) * octave_sigma;
                        float sigma_min = level_sigma / sigma_half_step;
                        float sigma_max = level_sigma * sigma_half_step;
                        int fcount = 0 ;
                        for(int k = 0; k < _featureNum; k++)
                        {
                                float * key = &_keypoint_buffer[k*4];
                float sigmak = key[2]; 
                if(IsUsingRectDescription()) sigmak = min(key[2], key[3]) / 12.0f; 

                                if(   (sigmak >= sigma_min && sigmak < sigma_max)
                                        ||(sigmak < sigma_min && i ==0 && j == 0)
                                        ||(sigmak > sigma_max && i == _octave_num -1 && j == param._dog_level_num - 1))
                                {
                                        //add this keypoint to the list
                                        list.push_back((key[0] - offset) / octave_sigma + 0.5f);
                                        list.push_back((key[1] - offset) / octave_sigma + 0.5f);
                    if(IsUsingRectDescription())
                    {
                        list.push_back(key[2] / octave_sigma);
                        list.push_back(key[3] / octave_sigma);
                    }else
                    {
                                            list.push_back(key[2] / octave_sigma);
                                            list.push_back((float)fmod(twopi-key[3], twopi));
                    }
                                        fcount ++;
                                        //save the index of keypoints
                                        _keypoint_index.push_back(k);
                                }

                        }

                        _levelFeatureNum[idx] = fcount;
                        if(fcount==0)continue;
                        CuTexImage * ftex = _featureTex+idx;

                        SetLevelFeatureNum(idx, fcount);
                        ftex->CopyFromHost(&list[0]);
                }
        }

        if(GlobalUtil::_verbose)
        {
                std::cout<<"#Features:\t"<<_featureNum<<"\n";
        }

}

void PyramidCU::ReshapeFeatureListCPU() 
{
        int i, szmax =0, sz;
        int n = param._dog_level_num*_octave_num;
        for( i = 0; i < n; i++) 
        {
                sz = _levelFeatureNum[i];
                if(sz > szmax ) szmax = sz;
        }
        float * buffer = new float[szmax*16];
        float * buffer1 = buffer;
        float * buffer2 = buffer + szmax*4;



        _featureNum = 0;

#ifdef NO_DUPLICATE_DOWNLOAD
        const double twopi = 2.0*3.14159265358979323846;
        _keypoint_buffer.resize(0);
        float os = _octave_min>=0? float(1<<_octave_min): 1.0f/(1<<(-_octave_min));
        if(_down_sample_factor>0) os *= float(1<<_down_sample_factor); 
        float offset = GlobalUtil::_LoweOrigin? 0 : 0.5f;
#endif


        for(i = 0; i < n; i++)
        {
                if(_levelFeatureNum[i]==0)continue;

                _featureTex[i].CopyToHost(buffer1);
                
                int fcount =0;
                float * src = buffer1;
                float * des = buffer2;
                const static double factor  = 2.0*3.14159265358979323846/65535.0;
                for(int j = 0; j < _levelFeatureNum[i]; j++, src+=4)
                {
                        unsigned short * orientations = (unsigned short*) (&src[3]);
                        if(orientations[0] != 65535)
                        {
                                des[0] = src[0];
                                des[1] = src[1];
                                des[2] = src[2];
                                des[3] = float( factor* orientations[0]);
                                fcount++;
                                des += 4;
                                if(orientations[1] != 65535 && orientations[1] != orientations[0])
                                {
                                        des[0] = src[0];
                                        des[1] = src[1];
                                        des[2] = src[2];
                                        des[3] = float(factor* orientations[1]);        
                                        fcount++;
                                        des += 4;
                                }
                        }
                }
                //texture size
                SetLevelFeatureNum(i, fcount);
                _featureTex[i].CopyFromHost(buffer2);
                
                if(fcount == 0) continue;

#ifdef NO_DUPLICATE_DOWNLOAD
                float oss = os * (1 << (i / param._dog_level_num));
                _keypoint_buffer.resize((_featureNum + fcount) * 4);
                float* ds = &_keypoint_buffer[_featureNum * 4];
                float* fs = buffer2;
                for(int k = 0;  k < fcount; k++, ds+=4, fs+=4)
                {
                        ds[0] = oss*(fs[0]-0.5f) + offset;      //x
                        ds[1] = oss*(fs[1]-0.5f) + offset;      //y
                        ds[2] = oss*fs[2];  //scale
                        ds[3] = (float)fmod(twopi-fs[3], twopi);        //orientation, mirrored
                }
#endif
                _featureNum += fcount;
        }
        delete[] buffer;
        if(GlobalUtil::_verbose)
        {
                std::cout<<"#Features MO:\t"<<_featureNum<<endl;
        }
}

void PyramidCU::GenerateFeatureDisplayVBO() 
{
        //it is weried that this part is very slow.
        //use a big VBO to save all the SIFT box vertices
        int nvbo = _octave_num * param._dog_level_num;
        if(_featureDisplayVBO==NULL)
        {
                //initialize the vbos
                _featureDisplayVBO = new GLuint[nvbo];
                _featurePointVBO = new GLuint[nvbo];
                glGenBuffers(nvbo, _featureDisplayVBO); 
                glGenBuffers(nvbo, _featurePointVBO);
        }
        for(int i = 0; i < nvbo; i++)
        {
                if(_levelFeatureNum[i]<=0)continue;
                CuTexImage * ftex  = _featureTex + i;
                CuTexImage texPBO1( _levelFeatureNum[i]* 10, 1, 4, _featureDisplayVBO[i]);
                CuTexImage texPBO2(_levelFeatureNum[i], 1, 4, _featurePointVBO[i]);
                ProgramCU::DisplayKeyBox(ftex, &texPBO1);
                ProgramCU::DisplayKeyPoint(ftex, &texPBO2);     
        }
}

void PyramidCU::DestroySharedData() 
{
        //histogram reduction
        if(_histoPyramidTex)
        {
                delete[]        _histoPyramidTex;
                _hpLevelNum = 0;
                _histoPyramidTex = NULL;
        }
        //descriptor storage shared by all levels
        if(_descriptorTex)
        {
                delete _descriptorTex;
                _descriptorTex = NULL;
        }
        //cpu reduction buffer.
        if(_histo_buffer)
        {
                delete[] _histo_buffer;
                _histo_buffer = 0;
        }
}

void PyramidCU::DestroyPerLevelData() 
{
        //integers vector to store the feature numbers.
        if(_levelFeatureNum)
        {
                delete [] _levelFeatureNum;
                _levelFeatureNum = NULL;
        }
        //texture used to store features
        if(     _featureTex)
        {
                delete [] _featureTex;
                _featureTex =   NULL;
        }
        //texture used for multi-orientation 
        if(_orientationTex)
        {
                delete [] _orientationTex;
                _orientationTex = NULL;
        }
        int no = _octave_num* param._dog_level_num;

        //two sets of vbos used to display the features
        if(_featureDisplayVBO)
        {
                glDeleteBuffers(no, _featureDisplayVBO);
                delete [] _featureDisplayVBO;
                _featureDisplayVBO = NULL;
        }
        if( _featurePointVBO)
        {
                glDeleteBuffers(no, _featurePointVBO);
                delete [] _featurePointVBO;
                _featurePointVBO = NULL;
        }
}

void PyramidCU::DestroyPyramidData()
{
        if(_allPyramid)
        {
                delete [] _allPyramid;
                _allPyramid = NULL;
        }
}

void PyramidCU::DownloadKeypoints() 
{
        const double twopi = 2.0*3.14159265358979323846;
        int idx = 0;
        float * buffer = &_keypoint_buffer[0];
        vector<float> keypoint_buffer2;
        //use a different keypoint buffer when processing with an exisint features list
        //without orientation information. 
        if(_keypoint_index.size() > 0)
        {
                keypoint_buffer2.resize(_keypoint_buffer.size());
                buffer = &keypoint_buffer2[0];
        }
        float * p = buffer, *ps;
        CuTexImage * ftex = _featureTex;
        float os = _octave_min>=0? float(1<<_octave_min): 1.0f/(1<<(-_octave_min));
        if(_down_sample_factor>0) os *= float(1<<_down_sample_factor); 
        float offset = GlobalUtil::_LoweOrigin? 0 : 0.5f;
        for(int i = 0; i < _octave_num; i++, os *= 2.0f)
        {
        
                for(int j = 0; j  < param._dog_level_num; j++, idx++, ftex++)
                {

                        if(_levelFeatureNum[idx]>0)
                        {       
                                ftex->CopyToHost(ps = p);
                                for(int k = 0;  k < _levelFeatureNum[idx]; k++, ps+=4)
                                {
                                        ps[0] = os*(ps[0]-0.5f) + offset;       //x
                                        ps[1] = os*(ps[1]-0.5f) + offset;       //y
                                        ps[2] = os*ps[2]; 
                                        ps[3] = (float)fmod(twopi-ps[3], twopi);        //orientation, mirrored
                                }
                                p+= 4* _levelFeatureNum[idx];
                        }
                }
        }

        //put the feature into their original order for existing keypoint 
        if(_keypoint_index.size() > 0)
        {
                for(int i = 0; i < _featureNum; ++i)
                {
                        int index = _keypoint_index[i];
                        memcpy(&_keypoint_buffer[index*4], &keypoint_buffer2[i*4], 4 * sizeof(float));
                }
        }
}

void PyramidCU::GenerateFeatureListCPU()
{
        //no cpu version provided
        GenerateFeatureList();
}

void PyramidCU::GenerateFeatureList(int i, int j, int reduction_count, vector<int>& hbuffer)
{
    int fcount = 0, idx = i * param._dog_level_num  + j;
        int hist_level_num = _hpLevelNum - _pyramid_octave_first /2; 
        int ii, k, len; 

        CuTexImage * htex, * ftex, * tex, *got;
        ftex = _featureTex + idx;
        htex = _histoPyramidTex + hist_level_num -1;
        tex = GetBaseLevel(_octave_min + i, DATA_KEYPOINT) + 2 + j;
        got = GetBaseLevel(_octave_min + i, DATA_GRAD) + 2 + j;

        ProgramCU::InitHistogram(tex, htex);

        for(k = 0; k < reduction_count - 1; k++, htex--)
        {
                ProgramCU::ReduceHistogram(htex, htex -1);      
        }
        
        //htex has the row reduction result
        len = htex->GetImgHeight() * 4;
        hbuffer.resize(len);
        ProgramCU::FinishCUDA();
        htex->CopyToHost(&hbuffer[0]);
        
        for(ii = 0; ii < len; ++ii)     {if(!(hbuffer[ii]>= 0)) hbuffer[ii] = 0; }//?
        
    
    for(ii = 0; ii < len; ++ii)         fcount += hbuffer[ii];
        SetLevelFeatureNum(idx, fcount);
        
    //build the feature list
        if(fcount > 0)
        {
                _featureNum += fcount;
                _keypoint_buffer.resize(fcount * 4);
                //vector<int> ikbuf(fcount*4);
                int* ibuf = (int*) (&_keypoint_buffer[0]);

                for(ii = 0; ii < len; ++ii)
                {
                        int x = ii%4, y = ii / 4;
                        for(int jj = 0 ; jj < hbuffer[ii]; ++jj, ibuf+=4)
                        {
                                ibuf[0] = x; ibuf[1] = y; ibuf[2] = jj; ibuf[3] = 0;
                        }
                }
                _featureTex[idx].CopyFromHost(&_keypoint_buffer[0]);
        
                ProgramCU::GenerateList(_featureTex + idx, ++htex);
                for(k = 2; k < reduction_count; k++)
                {
                        ProgramCU::GenerateList(_featureTex + idx, ++htex);
                }
        }
}

void PyramidCU::GenerateFeatureList()
{
        double t1, t2; 
        int ocount = 0, reduction_count;
    int reverse = (GlobalUtil::_TruncateMethod == 1);

        vector<int> hbuffer;
        _featureNum = 0;

        //for(int i = 0, idx = 0; i < _octave_num; i++)
    FOR_EACH_OCTAVE(i, reverse)
        {
        CuTexImage* tex = GetBaseLevel(_octave_min + i, DATA_KEYPOINT) + 2;
                reduction_count = FitHistogramPyramid(tex);

                if(GlobalUtil::_timingO)
                {
                        t1 = CLOCK(); 
                        ocount = 0;
                        std::cout<<"#"<<i+_octave_min + _down_sample_factor<<":\t";
                }
                //for(int j = 0; j < param._dog_level_num; j++, idx++)
        FOR_EACH_LEVEL(j, reverse)
                {
            if(GlobalUtil::_TruncateMethod && GlobalUtil::_FeatureCountThreshold > 0 && _featureNum > GlobalUtil::_FeatureCountThreshold) continue;

                GenerateFeatureList(i, j, reduction_count, hbuffer);

                        if(GlobalUtil::_timingO)
                        {
                int idx = i * param._dog_level_num + j;
                                ocount += _levelFeatureNum[idx];
                                std::cout<< _levelFeatureNum[idx] <<"\t";
                        }
                }
                if(GlobalUtil::_timingO)
                {       
                        t2 = CLOCK(); 
                        std::cout << "| \t" << int(ocount) << " :\t(" << (t2 - t1) << ")\n";
                }
        }
        CopyGradientTex();
        if(GlobalUtil::_timingS)ProgramCU::FinishCUDA();

        if(GlobalUtil::_verbose)
        {
                std::cout<<"#Features:\t"<<_featureNum<<"\n";
        }

        if(ProgramCU::CheckErrorCUDA("PyramidCU::GenerateFeatureList")) SetFailStatus();
}

GLTexImage* PyramidCU::GetLevelTexture(int octave, int level)
{
        return GetLevelTexture(octave, level, DATA_GAUSSIAN);
}

GLTexImage* PyramidCU::ConvertTexCU2GL(CuTexImage* tex, int dataName)
{
        
        GLenum format = GL_LUMINANCE;
        int convert_done = 1;
    if(_bufferPBO == 0) glGenBuffers(1, &_bufferPBO);
    if(_bufferTEX == NULL) _bufferTEX = new GLTexImage;
        switch(dataName)
        {
        case DATA_GAUSSIAN:
                {
                        convert_done = tex->CopyToPBO(_bufferPBO);
                        break;
                }
        case DATA_DOG:
                {
                        CuTexImage texPBO(tex->GetImgWidth(), tex->GetImgHeight(), 1, _bufferPBO);
                        if(texPBO._cuData == 0 || tex->_cuData == NULL) convert_done = 0;
                        else ProgramCU::DisplayConvertDOG(tex, &texPBO);
                        break;
                }
        case DATA_GRAD:
                {
                        CuTexImage texPBO(tex->GetImgWidth(), tex->GetImgHeight(), 1, _bufferPBO);
                        if(texPBO._cuData == 0 || tex->_cuData == NULL) convert_done = 0;
                        else ProgramCU::DisplayConvertGRD(tex, &texPBO);
                        break;
                }
        case DATA_KEYPOINT:
                {
                        CuTexImage * dog = tex - param._level_num * _pyramid_octave_num;
                        format = GL_RGBA;
                        CuTexImage texPBO(tex->GetImgWidth(), tex->GetImgHeight(), 4, _bufferPBO);
                        if(texPBO._cuData == 0 || tex->_cuData == NULL) convert_done = 0;
                        else ProgramCU::DisplayConvertKEY(tex, dog, &texPBO);
                        break;
                }
        default:
                        convert_done = 0;
                        break;
        }

        if(convert_done)
        {
                _bufferTEX->InitTexture(max(_bufferTEX->GetTexWidth(), tex->GetImgWidth()), max(_bufferTEX->GetTexHeight(), tex->GetImgHeight()));
                _bufferTEX->CopyFromPBO(_bufferPBO, tex->GetImgWidth(), tex->GetImgHeight(), format);
        }else
        {
                _bufferTEX->SetImageSize(0, 0);
        }

        return _bufferTEX;
}

GLTexImage* PyramidCU::GetLevelTexture(int octave, int level, int dataName) 
{
        CuTexImage* tex = GetBaseLevel(octave, dataName) + (level - param._level_min);
        //CuTexImage* gus = GetBaseLevel(octave, DATA_GAUSSIAN) + (level - param._level_min); 
        return ConvertTexCU2GL(tex, dataName);
}

void PyramidCU::ConvertInputToCU(GLTexInput* input)
{
        int ws = input->GetImgWidth(), hs = input->GetImgHeight();
        TruncateWidth(ws);
        //copy the input image to pixel buffer object
    if(input->_pixel_data)
    {
        _inputTex->InitTexture(ws, hs, 1);
        _inputTex->CopyFromHost(input->_pixel_data); 
    }else
    {
        if(_bufferPBO == 0) glGenBuffers(1, &_bufferPBO);
        if(input->_rgb_converted && input->CopyToPBO(_bufferPBO, ws, hs, GL_LUMINANCE))
        {
                    _inputTex->InitTexture(ws, hs, 1);
            _inputTex->CopyFromPBO(ws, hs, _bufferPBO); 
        }else if(input->CopyToPBO(_bufferPBO, ws, hs))
            {
                    CuTexImage texPBO(ws, hs, 4, _bufferPBO);
                    _inputTex->InitTexture(ws, hs, 1);
                    ProgramCU::ReduceToSingleChannel(_inputTex, &texPBO, !input->_rgb_converted);
            }else
            {
                    std::cerr<< "Unable To Convert Intput\n";
            }
    }
}

void PyramidCU::BuildPyramid(GLTexInput * input)
{

        USE_TIMING();

        int i, j;
        
        for ( i = _octave_min; i < _octave_min + _octave_num; i++)
        {

                float* filter_sigma = param._sigma;
                CuTexImage *tex = GetBaseLevel(i);
                CuTexImage *buf = GetBaseLevel(i, DATA_KEYPOINT) +2;
                j = param._level_min + 1;

                OCTAVE_START();

                if( i == _octave_min )
                {       
                        ConvertInputToCU(input);

                        if(i == 0)
                        {
                                ProgramCU::FilterImage(tex, _inputTex, buf, 
                    param.GetInitialSmoothSigma(_octave_min + _down_sample_factor));
                        }else
                        {
                                if(i < 0)       ProgramCU::SampleImageU(tex, _inputTex, -i);                    
                                else            ProgramCU::SampleImageD(tex, _inputTex, i);
                                ProgramCU::FilterImage(tex, tex, buf, 
                    param.GetInitialSmoothSigma(_octave_min + _down_sample_factor));
                        }
                }else
                {
                        ProgramCU::SampleImageD(tex, GetBaseLevel(i - 1) + param._level_ds - param._level_min); 
                        if(param._sigma_skip1 > 0)
                        {
                                ProgramCU::FilterImage(tex, tex, buf, param._sigma_skip1);
                        }
                }
                LEVEL_FINISH();
                for( ; j <=  param._level_max ; j++, tex++, filter_sigma++)
                {
                        // filtering
                        ProgramCU::FilterImage(tex + 1, tex, buf, *filter_sigma);
                        LEVEL_FINISH();
                }
                OCTAVE_FINISH();
        }
        if(GlobalUtil::_timingS) ProgramCU::FinishCUDA();

        if(ProgramCU::CheckErrorCUDA("PyramidCU::BuildPyramid")) SetFailStatus();
}

void PyramidCU::DetectKeypointsEX()
{


        int i, j;
        double t0, t, ts, t1, t2;

        if(GlobalUtil::_timingS && GlobalUtil::_verbose)ts = CLOCK();

        for(i = _octave_min; i < _octave_min + _octave_num; i++)
        {
                CuTexImage * gus = GetBaseLevel(i) + 1;
                CuTexImage * dog = GetBaseLevel(i, DATA_DOG) + 1;
                CuTexImage * got = GetBaseLevel(i, DATA_GRAD) + 1;
                //compute the gradient
                for(j = param._level_min +1; j <=  param._level_max ; j++, gus++, dog++, got++)
                {
                        //input: gus and gus -1
                        //output: gradient, dog, orientation
                        ProgramCU::ComputeDOG(gus, dog, got);
                }
        }
        if(GlobalUtil::_timingS && GlobalUtil::_verbose)
        {
                ProgramCU::FinishCUDA();
                t1 = CLOCK();
        }

        for ( i = _octave_min; i < _octave_min + _octave_num; i++)
        {
                if(GlobalUtil::_timingO)
                {
                        t0 = CLOCK();
                        std::cout<<"#"<<(i + _down_sample_factor)<<"\t";
                }
                CuTexImage * dog = GetBaseLevel(i, DATA_DOG) + 2;
                CuTexImage * key = GetBaseLevel(i, DATA_KEYPOINT) +2;


                for( j = param._level_min +2; j <  param._level_max ; j++, dog++, key++)
                {
                        if(GlobalUtil::_timingL)t = CLOCK();
                        //input, dog, dog + 1, dog -1
                        //output, key
                        ProgramCU::ComputeKEY(dog, key, param._dog_threshold, param._edge_threshold);
                        if(GlobalUtil::_timingL)
                        {
                                std::cout<<(CLOCK()-t)<<"\t";
                        }
                }
                if(GlobalUtil::_timingO)
                {
                        std::cout<<"|\t"<<(CLOCK()-t0)<<"\n";
                }
        }

        if(GlobalUtil::_timingS)
        {
                ProgramCU::FinishCUDA();
                if(GlobalUtil::_verbose) 
                {       
                        t2 = CLOCK();
                        std::cout       <<"<Gradient, DOG  >\t"<<(t1-ts)<<"\n"
                                                <<"<Get Keypoints  >\t"<<(t2-t1)<<"\n";
                }                               
        }
}

void PyramidCU::CopyGradientTex()
{
        double ts, t1;

        if(GlobalUtil::_timingS && GlobalUtil::_verbose)ts = CLOCK();

        for(int i = 0, idx = 0; i < _octave_num; i++)
        {
                CuTexImage * got = GetBaseLevel(i + _octave_min, DATA_GRAD) +  1;
                //compute the gradient
                for(int j = 0; j <  param._dog_level_num ; j++, got++, idx++)
                {
                        if(_levelFeatureNum[idx] > 0)   got->CopyToTexture2D();
                }
        }
        if(GlobalUtil::_timingS)
        {
                ProgramCU::FinishCUDA();
                if(GlobalUtil::_verbose)
                {
                        t1 = CLOCK();
                        std::cout       <<"<Copy Grad/Orientation>\t"<<(t1-ts)<<"\n";
                }
        }
}

void PyramidCU::ComputeGradient() 
{

        int i, j;
        double ts, t1;

        if(GlobalUtil::_timingS && GlobalUtil::_verbose)ts = CLOCK();

        for(i = _octave_min; i < _octave_min + _octave_num; i++)
        {
                CuTexImage * gus = GetBaseLevel(i) +  1;
                CuTexImage * dog = GetBaseLevel(i, DATA_DOG) +  1;
                CuTexImage * got = GetBaseLevel(i, DATA_GRAD) +  1;

                //compute the gradient
                for(j = 0; j <  param._dog_level_num ; j++, gus++, dog++, got++)
                {
                        ProgramCU::ComputeDOG(gus, dog, got);
                }
        }
        if(GlobalUtil::_timingS)
        {
                ProgramCU::FinishCUDA();
                if(GlobalUtil::_verbose)
                {
                        t1 = CLOCK();
                        std::cout       <<"<Gradient, DOG  >\t"<<(t1-ts)<<"\n";
                }
        }
}

int PyramidCU::FitHistogramPyramid(CuTexImage* tex)
{
        CuTexImage *htex;
        int hist_level_num = _hpLevelNum - _pyramid_octave_first / 2; 
        htex = _histoPyramidTex + hist_level_num - 1;
        int w = (tex->GetImgWidth() + 2) >> 2;
        int h = tex->GetImgHeight();
        int count = 0; 
        for(int k = 0; k < hist_level_num; k++, htex--)
        {
                //htex->SetImageSize(w, h);     
                htex->InitTexture(w, h, 4); 
                ++count;
                if(w == 1)
            break;
                w = (w + 3)>>2; 
        }
        return count;
}

void PyramidCU::GetFeatureOrientations() 
{

        CuTexImage * ftex = _featureTex;
        int * count      = _levelFeatureNum;
        float sigma, sigma_step = powf(2.0f, 1.0f/param._dog_level_num);

        for(int i = 0; i < _octave_num; i++)
        {
                CuTexImage* got = GetBaseLevel(i + _octave_min, DATA_GRAD) + 1;
                CuTexImage* key = GetBaseLevel(i + _octave_min, DATA_KEYPOINT) + 2;

                for(int j = 0; j < param._dog_level_num; j++, ftex++, count++, got++, key++)
                {
                        if(*count<=0)continue;

                        //if(ftex->GetImgWidth() < *count) ftex->InitTexture(*count, 1, 4);

                        sigma = param.GetLevelSigma(j+param._level_min+1);

                        ProgramCU::ComputeOrientation(ftex, got, key, sigma, sigma_step, _existing_keypoints);          
                }
        }

        if(GlobalUtil::_timingS)ProgramCU::FinishCUDA();
        if(ProgramCU::CheckErrorCUDA("PyramidCU::GetFeatureOrientations")) SetFailStatus();

}

void PyramidCU::GetSimplifiedOrientation() 
{
        //no simplified orientation
        GetFeatureOrientations();
}

CuTexImage* PyramidCU::GetBaseLevel(int octave, int dataName)
{
        if(octave <_octave_min || octave > _octave_min + _octave_num) return NULL;
        int offset = (_pyramid_octave_first + octave - _octave_min) * param._level_num;
        int num = param._level_num * _pyramid_octave_num;
        if (dataName == DATA_ROT) dataName = DATA_GRAD;
        return _allPyramid + num * dataName + offset;
}

#endif