RemoteSensingFrank/UAVProduct

////////////////////////////////////////////////////////////////////////////
//    File:        ProgramCU.h
//    Author:        Changchang Wu
//    Description :    interface for the ProgramCU classes.
//                    It is basically a wrapper around all the CUDA kernels
//
//    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 _PROGRAM_CU_H
#define _PROGRAM_CU_H
#if defined(CUDA_SIFTGPU_ENABLED)

class CuTexImage;

class ProgramCU
{
public:
    //GPU FUNCTIONS
    static void FinishCUDA();
    static int  CheckErrorCUDA(const char* location);
    static int  CheckCudaDevice(int device);
public:
    ////SIFTGPU FUNCTIONS
    static void CreateFilterKernel(float sigma, float* kernel, int& width);
    template<int KWIDTH> static void FilterImage(CuTexImage *dst, CuTexImage *src, CuTexImage* buf);
    static void FilterImage(CuTexImage *dst, CuTexImage *src, CuTexImage* buf, float sigma);
    static void ComputeDOG(CuTexImage* gus, CuTexImage* dog, CuTexImage* got);
    static void ComputeKEY(CuTexImage* dog, CuTexImage* key, float Tdog, float Tedge);
    static void InitHistogram(CuTexImage* key, CuTexImage* hist);
    static void ReduceHistogram(CuTexImage*hist1, CuTexImage* hist2);
    static void GenerateList(CuTexImage* list, CuTexImage* hist);
    static void ComputeOrientation(CuTexImage*list, CuTexImage* got, CuTexImage*key, 
        float sigma, float sigma_step, int existing_keypoint);
    static void ComputeDescriptor(CuTexImage*list, CuTexImage* got, CuTexImage* dtex, int rect = 0, int stream = 0);

    //data conversion
    static void SampleImageU(CuTexImage *dst, CuTexImage *src, int log_scale);
    static void SampleImageD(CuTexImage *dst, CuTexImage *src, int log_scale = 1); 
    static void ReduceToSingleChannel(CuTexImage* dst, CuTexImage* src, int convert_rgb);
    static void ConvertByteToFloat(CuTexImage*src, CuTexImage* dst);
    
    //visualization
    static void DisplayConvertDOG(CuTexImage* dog, CuTexImage* out);
    static void DisplayConvertGRD(CuTexImage* got, CuTexImage* out);
    static void DisplayConvertKEY(CuTexImage* key, CuTexImage* dog, CuTexImage* out);
    static void DisplayKeyPoint(CuTexImage* ftex, CuTexImage* out);
    static void DisplayKeyBox(CuTexImage* ftex, CuTexImage* out);
    
    //SIFTMATCH FUNCTIONS    
    static void MultiplyDescriptor(CuTexImage* tex1, CuTexImage* tex2, CuTexImage* texDot, CuTexImage* texCRT);
    static void MultiplyDescriptorG(CuTexImage* texDes1, CuTexImage* texDes2,
        CuTexImage* texLoc1, CuTexImage* texLoc2, CuTexImage* texDot, CuTexImage* texCRT,
        float H[3][3], float hdistmax, float F[3][3], float fdistmax);
    static void GetRowMatch(CuTexImage* texDot, CuTexImage* texMatch, float distmax, float ratiomax);
    static void GetColMatch(CuTexImage* texCRT, CuTexImage* texMatch, float distmax, float ratiomax);
};

#endif
#endif