UAVProduct/SiftGPU/SiftMatch.cpp
////////////////////////////////////////////////////////////////////////////
// File: SiftMatch.cpp
// Author: Changchang Wu
// Description : implementation of SiftMatchGPU and SiftMatchGL
//
//
// 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
//
////////////////////////////////////////////////////////////////////////////
#include "GL/glew.h"
#include <iostream>
#include <iomanip>
#include <vector>
#include <sstream>
#include <algorithm>
using namespace std;
#include <string.h>
#include "GlobalUtil.h"
#include "ProgramGLSL.h"
#include "GLTexImage.h"
#include "SiftGPU.h"
#include "SiftMatch.h"
#include "FrameBufferObject.h"
#if defined(CUDA_SIFTGPU_ENABLED)
#include "CuTexImage.h"
#include "SiftMatchCU.h"
#endif
SiftMatchGL::SiftMatchGL(int max_sift, int use_glsl): SiftMatchGPU()
{
s_multiply = s_col_max = s_row_max = s_guided_mult = NULL;
_num_sift[0] = _num_sift[1] = 0;
_id_sift[0] = _id_sift[1] = 0;
_have_loc[0] = _have_loc[1] = 0;
_max_sift = max_sift <=0 ? 4096 : ((max_sift + 31)/ 32 * 32) ;
_pixel_per_sift = 32; //must be 32
_sift_num_stripe = 1;
_sift_per_stripe = 1;
_sift_per_row = _sift_per_stripe * _sift_num_stripe;
_initialized = 0;
}
SiftMatchGL::~SiftMatchGL()
{
if(s_multiply) delete s_multiply;
if(s_guided_mult) delete s_guided_mult;
if(s_col_max) delete s_col_max;
if(s_row_max) delete s_row_max;
}
void SiftMatchGL::SetMaxSift(int max_sift)
{
max_sift = ((max_sift + 31)/32)*32;
if(max_sift > GlobalUtil::_texMaxDimGL) max_sift = GlobalUtil::_texMaxDimGL;
if(max_sift > _max_sift)
{
_max_sift = max_sift;
AllocateSiftMatch();
_have_loc[0] = _have_loc[1] = 0;
_id_sift[0] = _id_sift[1] = -1;
_num_sift[0] = _num_sift[1] = 1;
}else
{
_max_sift = max_sift;
}
}
void SiftMatchGL::AllocateSiftMatch()
{
//parameters, number of sift is limited by the texture size
if(_max_sift > GlobalUtil::_texMaxDimGL) _max_sift = GlobalUtil::_texMaxDimGL;
///
int h = _max_sift / _sift_per_row;
int n = (GlobalUtil::_texMaxDimGL + h - 1) / GlobalUtil::_texMaxDimGL;
if ( n > 1) {_sift_num_stripe *= n; _sift_per_row *= n; }
//initialize
_texDes[0].InitTexture(_sift_per_row * _pixel_per_sift, _max_sift / _sift_per_row, 0,GL_RGBA8);
_texDes[1].InitTexture(_sift_per_row * _pixel_per_sift, _max_sift / _sift_per_row, 0, GL_RGBA8);
_texLoc[0].InitTexture(_sift_per_row , _max_sift / _sift_per_row, 0);
_texLoc[1].InitTexture(_sift_per_row , _max_sift / _sift_per_row, 0);
if(GlobalUtil::_SupportNVFloat || GlobalUtil::_SupportTextureRG)
{
//use single-component texture to save memory
#ifndef GL_R32F
#define GL_R32F 0x822E
#endif
GLuint format = GlobalUtil::_SupportNVFloat ? GL_FLOAT_R_NV : GL_R32F;
_texDot.InitTexture(_max_sift, _max_sift, 0, format);
_texMatch[0].InitTexture(16, _max_sift / 16, 0, format);
_texMatch[1].InitTexture(16, _max_sift / 16, 0, format);
}else
{
_texDot.InitTexture(_max_sift, _max_sift, 0);
_texMatch[0].InitTexture(16, _max_sift / 16, 0);
_texMatch[1].InitTexture(16, _max_sift / 16, 0);
}
}
void SiftMatchGL::InitSiftMatch()
{
if(_initialized) return;
GlobalUtil::InitGLParam(0);
if(GlobalUtil::_GoodOpenGL == 0) return;
AllocateSiftMatch();
LoadSiftMatchShadersGLSL();
_initialized = 1;
}
void SiftMatchGL::SetDescriptors(int index, int num, const unsigned char* descriptors, int id)
{
if(_initialized == 0) return;
if (index > 1) index = 1;
if (index < 0) index = 0;
_have_loc[index] = 0;
//the same feature is already set
if(id !=-1 && id == _id_sift[index]) return ;
_id_sift[index] = id;
if(num > _max_sift) num = _max_sift;
sift_buffer.resize(num * 128 /4);
memcpy(&sift_buffer[0], descriptors, 128 * num);
_num_sift[index] = num;
int w = _sift_per_row * _pixel_per_sift;
int h = (num + _sift_per_row - 1)/ _sift_per_row;
sift_buffer.resize(w * h * 4, 0);
_texDes[index].SetImageSize(w , h);
_texDes[index].BindTex();
if(_sift_num_stripe == 1)
{
glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, w, h, GL_RGBA, GL_UNSIGNED_BYTE, &sift_buffer[0]);
}else
{
for(int i = 0; i < _sift_num_stripe; ++i)
{
int ws = _sift_per_stripe * _pixel_per_sift;
int x = i * ws;
int pos = i * ws * h * 4;
glTexSubImage2D(GlobalUtil::_texTarget, 0, x, 0, ws, h, GL_RGBA, GL_UNSIGNED_BYTE, &sift_buffer[pos]);
}
}
_texDes[index].UnbindTex();
}
void SiftMatchGL::SetFeautreLocation(int index, const float* locations, int gap)
{
if(_num_sift[index] <=0) return;
int w = _sift_per_row ;
int h = (_num_sift[index] + _sift_per_row - 1)/ _sift_per_row;
sift_buffer.resize(_num_sift[index] * 2);
if(gap == 0)
{
memcpy(&sift_buffer[0], locations, _num_sift[index] * 2 * sizeof(float));
}else
{
for(int i = 0; i < _num_sift[index]; ++i)
{
sift_buffer[i*2] = *locations++;
sift_buffer[i*2+1]= *locations ++;
locations += gap;
}
}
sift_buffer.resize(w * h * 2, 0);
_texLoc[index].SetImageSize(w , h);
_texLoc[index].BindTex();
if(_sift_num_stripe == 1)
{
glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, w, h, GL_LUMINANCE_ALPHA , GL_FLOAT , &sift_buffer[0]);
}else
{
for(int i = 0; i < _sift_num_stripe; ++i)
{
int ws = _sift_per_stripe;
int x = i * ws;
int pos = i * ws * h * 2;
glTexSubImage2D(GlobalUtil::_texTarget, 0, x, 0, ws, h, GL_LUMINANCE_ALPHA , GL_FLOAT, &sift_buffer[pos]);
}
}
_texLoc[index].UnbindTex();
_have_loc[index] = 1;
}
void SiftMatchGL::SetDescriptors(int index, int num, const float* descriptors, int id)
{
if(_initialized == 0) return;
if (index > 1) index = 1;
if (index < 0) index = 0;
_have_loc[index] = 0;
//the same feature is already set
if(id !=-1 && id == _id_sift[index]) return ;
_id_sift[index] = id;
if(num > _max_sift) num = _max_sift;
sift_buffer.resize(num * 128 /4);
unsigned char * pub = (unsigned char*) &sift_buffer[0];
for(int i = 0; i < 128 * num; ++i)
{
pub[i] = int(512 * descriptors[i] + 0.5);
}
_num_sift[index] = num;
int w = _sift_per_row * _pixel_per_sift;
int h = (num + _sift_per_row - 1)/ _sift_per_row;
sift_buffer.resize(w * h * 4, 0);
_texDes[index].SetImageSize(w, h);
_texDes[index].BindTex();
if(_sift_num_stripe == 1)
{
glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, w, h, GL_RGBA, GL_UNSIGNED_BYTE, &sift_buffer[0]);
}else
{
for(int i = 0; i < _sift_num_stripe; ++i)
{
int ws = _sift_per_stripe * _pixel_per_sift;
int x = i * ws;
int pos = i * ws * h * 4;
glTexSubImage2D(GlobalUtil::_texTarget, 0, x, 0, ws, h, GL_RGBA, GL_UNSIGNED_BYTE, &sift_buffer[pos]);
}
}
_texDes[index].UnbindTex();
}
void SiftMatchGL::LoadSiftMatchShadersGLSL()
{
ProgramGLSL * program;
ostringstream out;
if(GlobalUtil::_IsNvidia)
out << "#pragma optionNV(ifcvt none)\n"
"#pragma optionNV(unroll all)\n";
out << "#define SIFT_PER_STRIPE " << _sift_per_stripe << ".0\n"
"#define PIXEL_PER_SIFT " << _pixel_per_sift << "\n"
"uniform sampler2DRect tex1, tex2; uniform vec2 size;\n"
"void main() \n"
"{\n"
<< " vec4 val = vec4(0.0, 0.0, 0.0, 0.0), data1, buf;\n"
" vec2 index = gl_FragCoord.yx; \n"
" vec2 stripe_size = size.xy * SIFT_PER_STRIPE;\n"
" vec2 temp_div1 = index / stripe_size;\n"
" vec2 stripe_index = floor(temp_div1);\n"
" index = floor(stripe_size * (temp_div1 - stripe_index));\n"
" vec2 temp_div2 = index * vec2(1.0 / float(SIFT_PER_STRIPE));\n"
" vec2 temp_floor2 = floor(temp_div2);\n"
" vec2 index_v = temp_floor2 + vec2(0.5);\n "
" vec2 index_h = vec2(SIFT_PER_STRIPE)* (temp_div2 - temp_floor2);\n"
" vec2 tx = (index_h + stripe_index * vec2(SIFT_PER_STRIPE))* vec2(PIXEL_PER_SIFT) + 0.5;\n"
" vec2 tpos1, tpos2; \n"
" vec4 tpos = vec4(tx, index_v);\n"
//////////////////////////////////////////////////////
" for(int i = 0; i < PIXEL_PER_SIFT; ++i){\n"
" buf = texture2DRect(tex2, tpos.yw);\n"
" data1 = texture2DRect(tex1, tpos.xz);\n"
" val += (data1 * buf);\n"
" tpos.xy = tpos.xy + vec2(1.0, 1.0);\n"
" }\n"
" const float factor = 0.248050689697265625; \n"
" gl_FragColor =vec4(dot(val, vec4(factor)), index, 0);\n"
"}"
<< '\0';
s_multiply = program= new ProgramGLSL(out.str().c_str());
_param_multiply_tex1 = glGetUniformLocation(*program, "tex1");
_param_multiply_tex2 = glGetUniformLocation(*program, "tex2");
_param_multiply_size = glGetUniformLocation(*program, "size");
out.seekp(ios::beg);
if(GlobalUtil::_IsNvidia)
out << "#pragma optionNV(ifcvt none)\n"
"#pragma optionNV(unroll all)\n";
out << "#define SIFT_PER_STRIPE " << _sift_per_stripe << ".0\n"
"#define PIXEL_PER_SIFT " << _pixel_per_sift << "\n"
"uniform sampler2DRect tex1, tex2;\n"
"uniform sampler2DRect texL1;\n"
"uniform sampler2DRect texL2; \n"
"uniform mat3 H; \n"
"uniform mat3 F; \n"
"uniform vec4 size; \n"
"void main() \n"
"{\n"
<< " vec4 val = vec4(0.0, 0.0, 0.0, 0.0), data1, buf;\n"
" vec2 index = gl_FragCoord.yx; \n"
" vec2 stripe_size = size.xy * SIFT_PER_STRIPE;\n"
" vec2 temp_div1 = index / stripe_size;\n"
" vec2 stripe_index = floor(temp_div1);\n"
" index = floor(stripe_size * (temp_div1 - stripe_index));\n"
" vec2 temp_div2 = index * vec2(1.0/ float(SIFT_PER_STRIPE));\n"
" vec2 temp_floor2 = floor(temp_div2);\n"
" vec2 index_v = temp_floor2 + vec2(0.5);\n "
" vec2 index_h = vec2(SIFT_PER_STRIPE)* (temp_div2 - temp_floor2);\n"
//read feature location data
" vec4 tlpos = vec4((index_h + stripe_index * vec2(SIFT_PER_STRIPE)) + 0.5, index_v);\n"
" vec3 loc1 = vec3(texture2DRect(texL1, tlpos.xz).xw, 1.0);\n"
" vec3 loc2 = vec3(texture2DRect(texL2, tlpos.yw).xw, 1.0);\n"
//check the guiding homography
" vec3 hxloc1 = H* loc1;\n"
" vec2 diff = abs(loc2.xy- (hxloc1.xy/hxloc1.z));\n"
" float disth = max(diff.x, diff.y);\n"
" if(disth > size.z ) {gl_FragColor = vec4(0.0, index, 0.0); return;}\n"
//check the guiding fundamental
" vec3 fx1 = (F * loc1), ftx2 = (loc2 * F);\n"
" float x2tfx1 = dot(loc2, fx1);\n"
" vec4 temp = vec4(fx1.xy, ftx2.xy); \n"
" float sampson_error = (x2tfx1 * x2tfx1) / dot(temp, temp);\n"
" if(sampson_error > size.w) {gl_FragColor = vec4(0.0, index, 0.0); return;}\n"
//compare feature descriptor
" vec2 tx = (index_h + stripe_index * SIFT_PER_STRIPE)* vec2(PIXEL_PER_SIFT) + 0.5;\n"
" vec2 tpos1, tpos2; \n"
" vec4 tpos = vec4(tx, index_v);\n"
" for(int i = 0; i < PIXEL_PER_SIFT; ++i){\n"
" buf = texture2DRect(tex2, tpos.yw);\n"
" data1 = texture2DRect(tex1, tpos.xz);\n"
" val += data1 * buf;\n"
" tpos.xy = tpos.xy + vec2(1.0, 1.0);\n"
" }\n"
" const float factor = 0.248050689697265625; \n"
" gl_FragColor =vec4(dot(val, vec4(factor)), index, 0.0);\n"
"}"
<< '\0';
s_guided_mult = program= new ProgramGLSL(out.str().c_str());
_param_guided_mult_tex1 = glGetUniformLocation(*program, "tex1");
_param_guided_mult_tex2= glGetUniformLocation(*program, "tex2");
_param_guided_mult_texl1 = glGetUniformLocation(*program, "texL1");
_param_guided_mult_texl2 = glGetUniformLocation(*program, "texL2");
_param_guided_mult_h = glGetUniformLocation(*program, "H");
_param_guided_mult_f = glGetUniformLocation(*program, "F");
_param_guided_mult_param = glGetUniformLocation(*program, "size");
//row max
out.seekp(ios::beg);
out << "#define BLOCK_WIDTH 16.0\n"
"uniform sampler2DRect tex; uniform vec3 param;\n"
"void main ()\n"
"{\n"
" float index = gl_FragCoord.x + floor(gl_FragCoord.y) * BLOCK_WIDTH; \n"
" vec2 bestv = vec2(-1.0); float imax = -1.0;\n"
" for(float i = 0.0; i < param.x; i ++){\n "
" float v = texture2DRect(tex, vec2(i + 0.5, index)).r; \n"
" imax = v > bestv.r ? i : imax; \n "
" bestv = v > bestv.r? vec2(v, bestv.r) : max(bestv, vec2(v));\n "
" }\n"
" bestv = acos(min(bestv, 1.0));\n"
" if(bestv.x >= param.y || bestv.x >= param.z * bestv.y) imax = -1.0;\n"
" gl_FragColor = vec4(imax, bestv, index);\n"
"}"
<< '\0';
s_row_max = program= new ProgramGLSL(out.str().c_str());
_param_rowmax_param = glGetUniformLocation(*program, "param");
out.seekp(ios::beg);
out << "#define BLOCK_WIDTH 16.0\n"
"uniform sampler2DRect tex; uniform vec3 param;\n"
"void main ()\n"
"{\n"
" float index = gl_FragCoord.x + floor(gl_FragCoord.y) * BLOCK_WIDTH; \n"
" vec2 bestv = vec2(-1.0); float imax = -1.0;\n"
" for(float i = 0.0; i < param.x; i ++){\n "
" float v = texture2DRect(tex, vec2(index, i + 0.5)).r; \n"
" imax = (v > bestv.r)? i : imax; \n "
" bestv = v > bestv.r? vec2(v, bestv.r) : max(bestv, vec2(v));\n "
" }\n"
" bestv = acos(min(bestv, 1.0));\n"
" if(bestv.x >= param.y || bestv.x >= param.z * bestv.y) imax = -1.0;\n"
" gl_FragColor = vec4(imax, bestv, index);\n"
"}"
<< '\0';
s_col_max = program =new ProgramGLSL(out.str().c_str());
_param_colmax_param = glGetUniformLocation(*program, "param");
}
int SiftMatchGL::GetGuidedSiftMatch(int max_match, int match_buffer[][2], float H[3][3], float F[3][3],
float distmax, float ratiomax, float hdistmax, float fdistmax, int mbm)
{
int dw = _num_sift[1];
int dh = _num_sift[0];
if(_initialized ==0) return 0;
if(dw <= 0 || dh <=0) return 0;
if(_have_loc[0] == 0 || _have_loc[1] == 0) return 0;
FrameBufferObject fbo;
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT);
_texDot.SetImageSize(dw, dh);
//data
_texDot.AttachToFBO(0);
_texDot.FitTexViewPort();
glActiveTexture(GL_TEXTURE0);
_texDes[0].BindTex();
glActiveTexture(GL_TEXTURE1);
_texDes[1].BindTex();
glActiveTexture(GL_TEXTURE2);
_texLoc[0].BindTex();
glActiveTexture(GL_TEXTURE3);
_texLoc[1].BindTex();
//multiply the descriptor matrices
s_guided_mult->UseProgram();
//set parameters glsl
float dot_param[4] = {(float)_texDes[0].GetDrawHeight(), (float) _texDes[1].GetDrawHeight(), hdistmax, fdistmax};
glUniform1i(_param_guided_mult_tex1, 0);
glUniform1i(_param_guided_mult_tex2, 1);
glUniform1i(_param_guided_mult_texl1, 2);
glUniform1i(_param_guided_mult_texl2, 3);
glUniformMatrix3fv(_param_guided_mult_h, 1, GL_TRUE, H[0]);
glUniformMatrix3fv(_param_guided_mult_f, 1, GL_TRUE, F[0]);
glUniform4fv(_param_guided_mult_param, 1, dot_param);
_texDot.DrawQuad();
GLTexImage::UnbindMultiTex(4);
return GetBestMatch(max_match, match_buffer, distmax, ratiomax, mbm);
}
int SiftMatchGL::GetBestMatch(int max_match, int match_buffer[][2], float distmax, float ratiomax, int mbm)
{
glActiveTexture(GL_TEXTURE0);
_texDot.BindTex();
//readback buffer
sift_buffer.resize(_num_sift[0] + _num_sift[1] + 16);
float * buffer1 = &sift_buffer[0], * buffer2 = &sift_buffer[_num_sift[0]];
//row max
_texMatch[0].AttachToFBO(0);
_texMatch[0].SetImageSize(16, ( _num_sift[0] + 15) / 16);
_texMatch[0].FitTexViewPort();
///set parameter glsl
s_row_max->UseProgram();
glUniform3f(_param_rowmax_param, (float)_num_sift[1], distmax, ratiomax);
_texMatch[0].DrawQuad();
glReadPixels(0, 0, 16, (_num_sift[0] + 15)/16, GL_RED, GL_FLOAT, buffer1);
//col max
if(mbm)
{
_texMatch[1].AttachToFBO(0);
_texMatch[1].SetImageSize(16, (_num_sift[1] + 15) / 16);
_texMatch[1].FitTexViewPort();
//set parameter glsl
s_col_max->UseProgram();
glUniform3f(_param_rowmax_param, (float)_num_sift[0], distmax, ratiomax);
_texMatch[1].DrawQuad();
glReadPixels(0, 0, 16, (_num_sift[1] + 15) / 16, GL_RED, GL_FLOAT, buffer2);
}
//unload
glUseProgram(0);
GLTexImage::UnbindMultiTex(2);
GlobalUtil::CleanupOpenGL();
//write back the matches
int nmatch = 0, j ;
for(int i = 0; i < _num_sift[0] && nmatch < max_match; ++i)
{
j = int(buffer1[i]);
if( j>= 0 && (!mbm ||int(buffer2[j]) == i))
{
match_buffer[nmatch][0] = i;
match_buffer[nmatch][1] = j;
nmatch++;
}
}
return nmatch;
}
int SiftMatchGL::GetSiftMatch(int max_match, int match_buffer[][2], float distmax, float ratiomax, int mbm)
{
int dw = _num_sift[1];
int dh = _num_sift[0];
if(_initialized ==0) return 0;
if(dw <= 0 || dh <=0) return 0;
FrameBufferObject fbo;
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT);
_texDot.SetImageSize(dw, dh);
//data
_texDot.AttachToFBO(0);
_texDot.FitTexViewPort();
glActiveTexture(GL_TEXTURE0);
_texDes[0].BindTex();
glActiveTexture(GL_TEXTURE1);
_texDes[1].BindTex();
//////////////////
//multiply the descriptor matrices
s_multiply->UseProgram();
//set parameters
float heights[2] = {(float)_texDes[0].GetDrawHeight(), (float)_texDes[1].GetDrawHeight()};
glUniform1i(_param_multiply_tex1, 0);
glUniform1i(_param_multiply_tex2 , 1);
glUniform2fv(_param_multiply_size, 1, heights);
_texDot.DrawQuad();
glActiveTexture(GL_TEXTURE1);
glBindTexture(GlobalUtil::_texTarget, 0);
return GetBestMatch(max_match, match_buffer, distmax, ratiomax, mbm);
}
int SiftMatchGPU::_CreateContextGL()
{
//Create an OpenGL Context?
if (__language >= SIFTMATCH_CUDA) {}
else if(!GlobalUtil::CreateWindowEZ())
{
#if CUDA_SIFTGPU_ENABLED
__language = SIFTMATCH_CUDA;
#else
return 0;
#endif
}
return VerifyContextGL();
}
int SiftMatchGPU::_VerifyContextGL()
{
if(__matcher) return GlobalUtil::_GoodOpenGL;
#ifdef CUDA_SIFTGPU_ENABLED
if(__language >= SIFTMATCH_CUDA) {}
else if(__language == SIFTMATCH_SAME_AS_SIFTGPU && GlobalUtil::_UseCUDA){}
else GlobalUtil::InitGLParam(0);
if(GlobalUtil::_GoodOpenGL == 0) __language = SIFTMATCH_CUDA;
if(((__language == SIFTMATCH_SAME_AS_SIFTGPU && GlobalUtil::_UseCUDA) || __language >= SIFTMATCH_CUDA)
&& SiftMatchCU::CheckCudaDevice (GlobalUtil::_DeviceIndex))
{
__language = SIFTMATCH_CUDA;
__matcher = new SiftMatchCU(__max_sift);
}else
#else
if((__language == SIFTMATCH_SAME_AS_SIFTGPU && GlobalUtil::_UseCUDA) || __language >= SIFTMATCH_CUDA)
{
std::cerr << "---------------------------------------------------------------------------\n"
<< "CUDA not supported in this binary! To enable it, please use SiftGPU_CUDA_Enable\n"
<< "Project for VS2005+ or set siftgpu_enable_cuda to 1 in makefile\n"
<< "----------------------------------------------------------------------------\n";
}
#endif
{
__language = SIFTMATCH_GLSL;
__matcher = new SiftMatchGL(__max_sift, 1);
}
if(GlobalUtil::_verbose)
std::cout << "[SiftMatchGPU]: " << (__language == SIFTMATCH_CUDA? "CUDA" : "GLSL") <<"\n\n";
__matcher->InitSiftMatch();
return GlobalUtil::_GoodOpenGL;
}
void* SiftMatchGPU::operator new (size_t size){
void * p = malloc(size);
if (p == 0)
{
const std::bad_alloc ba;
throw ba;
}
return p;
}
SiftMatchGPU::SiftMatchGPU(int max_sift)
{
__max_sift = max(max_sift, 1024);
__language = 0;
__matcher = NULL;
}
void SiftMatchGPU::SetLanguage(int language)
{
if(__matcher) return;
////////////////////////
#ifdef CUDA_SIFTGPU_ENABLED
if(language >= SIFTMATCH_CUDA) GlobalUtil::_DeviceIndex = language - SIFTMATCH_CUDA;
#endif
__language = language > SIFTMATCH_CUDA ? SIFTMATCH_CUDA : language;
}
void SiftMatchGPU::SetDeviceParam(int argc, char**argv)
{
if(__matcher) return;
GlobalUtil::SetDeviceParam(argc, argv);
}
void SiftMatchGPU::SetMaxSift(int max_sift)
{
if(__matcher) __matcher->SetMaxSift(max(128, max_sift));
else __max_sift = max(128, max_sift);
}
SiftMatchGPU::~SiftMatchGPU()
{
if(__matcher) delete __matcher;
}
void SiftMatchGPU::SetDescriptors(int index, int num, const unsigned char* descriptors, int id)
{
__matcher->SetDescriptors(index, num, descriptors, id);
}
void SiftMatchGPU::SetDescriptors(int index, int num, const float* descriptors, int id)
{
__matcher->SetDescriptors(index, num, descriptors, id);
}
void SiftMatchGPU::SetFeautreLocation(int index, const float* locations, int gap)
{
__matcher->SetFeautreLocation(index, locations, gap);
}
int SiftMatchGPU::GetGuidedSiftMatch(int max_match, int match_buffer[][2], float H[3][3], float F[3][3],
float distmax, float ratiomax, float hdistmax, float fdistmax, int mutual_best_match)
{
if(H == NULL && F == NULL)
{
return __matcher->GetSiftMatch(max_match, match_buffer, distmax, ratiomax, mutual_best_match);
}else
{
float Z[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}, ti = (1.0e+20F);
return __matcher->GetGuidedSiftMatch(max_match, match_buffer, H? H : Z, F? F : Z,
distmax, ratiomax, H? hdistmax: ti, F? fdistmax: ti, mutual_best_match);
}
}
int SiftMatchGPU::GetSiftMatch(int max_match, int match_buffer[][2], float distmax, float ratiomax, int mutual_best_match)
{
return __matcher->GetSiftMatch(max_match, match_buffer, distmax, ratiomax, mutual_best_match);
}
SiftMatchGPU* CreateNewSiftMatchGPU(int max_sift)
{
return new SiftMatchGPU(max_sift);
}