UAVProduct/SiftGPU/SiftPyramid.cpp
////////////////////////////////////////////////////////////////////////////
// File: SiftPyramid.cpp
// Author: Changchang Wu
// Description : Implementation of the SiftPyramid class.
//
//
//
// 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 <string.h>
#include <iostream>
#include <iomanip>
#include <vector>
#include <algorithm>
#include <fstream>
#include <math.h>
using namespace std;
#include "GlobalUtil.h"
#include "SiftPyramid.h"
#include "SiftGPU.h"
#ifdef DEBUG_SIFTGPU
#include "IL/il.h"
#include "direct.h"
#include "io.h"
#include <sys/stat.h>
#endif
void SiftPyramid::RunSIFT(GLTexInput*input)
{
CleanupBeforeSIFT();
if(_existing_keypoints & SIFT_SKIP_FILTERING)
{
}else
{
GlobalUtil::StartTimer("Build Pyramid");
BuildPyramid(input);
GlobalUtil::StopTimer();
_timing[0] = GetElapsedTime();
}
if(_existing_keypoints)
{
//existing keypoint list should at least have the locations and scale
GlobalUtil::StartTimer("Upload Feature List");
if(!(_existing_keypoints & SIFT_SKIP_FILTERING)) ComputeGradient();
GenerateFeatureListTex();
GlobalUtil::StopTimer();
_timing[2] = GetElapsedTime();
}else
{
GlobalUtil::StartTimer("Detect Keypoints");
DetectKeypointsEX();
GlobalUtil::StopTimer();
_timing[1] = GetElapsedTime();
if(GlobalUtil::_ListGenGPU ==1)
{
GlobalUtil::StartTimer("Get Feature List");
GenerateFeatureList();
GlobalUtil::StopTimer();
}else
{
GlobalUtil::StartTimer("Transfer Feature List");
GenerateFeatureListCPU();
GlobalUtil::StopTimer();
}
LimitFeatureCount(0);
_timing[2] = GetElapsedTime();
}
if(_existing_keypoints& SIFT_SKIP_ORIENTATION)
{
//use exisitng feature orientation or
}else if(GlobalUtil::_MaxOrientation>0)
{
//some extra tricks are done to handle existing keypoint list
GlobalUtil::StartTimer("Feature Orientations");
GetFeatureOrientations();
GlobalUtil::StopTimer();
_timing[3] = GetElapsedTime();
//for existing keypoint list, only the strongest orientation is kept.
if(GlobalUtil::_MaxOrientation >1 && !_existing_keypoints && !GlobalUtil::_FixedOrientation)
{
GlobalUtil::StartTimer("MultiO Feature List");
ReshapeFeatureListCPU();
LimitFeatureCount(1);
GlobalUtil::StopTimer();
_timing[4] = GetElapsedTime();
}
}else
{
GlobalUtil::StartTimer("Feature Orientations");
GetSimplifiedOrientation();
GlobalUtil::StopTimer();
_timing[3] = GetElapsedTime();
}
PrepareBuffer();
if(_existing_keypoints & SIFT_SKIP_ORIENTATION)
{
//no need to read back feature if all fields of keypoints are already specified
}else
{
GlobalUtil::StartTimer("Download Keypoints");
#ifdef NO_DUPLICATE_DOWNLOAD
if(GlobalUtil::_MaxOrientation < 2 || GlobalUtil::_FixedOrientation)
#endif
DownloadKeypoints();
GlobalUtil::StopTimer();
_timing[5] = GetElapsedTime();
}
if(GlobalUtil::_DescriptorPPT)
{
//desciprotrs are downloaded in descriptor computation of each level
GlobalUtil::StartTimer("Get Descriptor");
GetFeatureDescriptors();
GlobalUtil::StopTimer();
_timing[6] = GetElapsedTime();
}
//reset the existing keypoints
_existing_keypoints = 0;
_keypoint_index.resize(0);
if(GlobalUtil::_UseSiftGPUEX)
{
GlobalUtil::StartTimer("Gen. Display VBO");
GenerateFeatureDisplayVBO();
GlobalUtil::StopTimer();
_timing[7] = GlobalUtil::GetElapsedTime();
}
//clean up
CleanUpAfterSIFT();
}
void SiftPyramid::LimitFeatureCount(int have_keylist)
{
if(GlobalUtil::_FeatureCountThreshold <= 0 || _existing_keypoints) return;
///////////////////////////////////////////////////////////////
//skip the lowest levels to reduce number of features.
if(GlobalUtil::_TruncateMethod == 2)
{
int i = 0, new_feature_num = 0, level_num = param._dog_level_num * _octave_num;
for(; new_feature_num < _FeatureCountThreshold && i < level_num; ++i) new_feature_num += _levelFeatureNum[i];
for(; i < level_num; ++i) _levelFeatureNum[i] = 0;
if(new_feature_num < _featureNum)
{
_featureNum = new_feature_num;
if(GlobalUtil::_verbose )
{
std::cout<<"#Features Reduced:\t"<<_featureNum<<endl;
}
}
}else
{
int i = 0, num_to_erase = 0;
while(_featureNum - _levelFeatureNum[i] > _FeatureCountThreshold)
{
num_to_erase += _levelFeatureNum[i];
_featureNum -= _levelFeatureNum[i];
_levelFeatureNum[i++] = 0;
}
if(num_to_erase > 0 && have_keylist)
{
_keypoint_buffer.erase(_keypoint_buffer.begin(), _keypoint_buffer.begin() + num_to_erase * 4);
}
if(GlobalUtil::_verbose && num_to_erase > 0)
{
std::cout<<"#Features Reduced:\t"<<_featureNum<<endl;
}
}
}
void SiftPyramid::PrepareBuffer()
{
//when there is no existing keypoint list, the feature list need to be downloaded
//when an existing keypoint list does not have orientaiton, we need to download them again.
if(!(_existing_keypoints & SIFT_SKIP_ORIENTATION))
{
//_keypoint_buffer.resize(4 * (_featureNum +align));
_keypoint_buffer.resize(4 * (_featureNum + GlobalUtil::_texMaxDim)); //11/19/2008
}
if(GlobalUtil::_DescriptorPPT)
{
//_descriptor_buffer.resize(128*(_featureNum + align));
_descriptor_buffer.resize(128 * _featureNum + 16 * GlobalUtil::_texMaxDim);//11/19/2008
}
}
int SiftPyramid:: GetRequiredOctaveNum(int inputsz)
{
//[2 ^ i, 2 ^ (i + 1)) -> i - 3...
//768 in [2^9, 2^10) -> 6 -> smallest will be 768 / 32 = 24
int num = (int) floor (log ( inputsz * 2.0 / GlobalUtil::_texMinDim )/log(2.0));
return num <= 0 ? 1 : num;
}
void SiftPyramid::CopyFeatureVector(float*keys, float *descriptors)
{
if(keys) memcpy(keys, &_keypoint_buffer[0], 4*_featureNum*sizeof(float));
if(descriptors) memcpy(descriptors, &_descriptor_buffer[0], 128*_featureNum*sizeof(float));
}
void SiftPyramid:: SetKeypointList(int num, const float * keys, int run_on_current, int skip_orientation)
{
//for each input keypoint
//sort the key point list by size, and assign them to corresponding levels
if(num <=0) return;
_featureNum = num;
///copy the keypoints
_keypoint_buffer.resize(num * 4);
memcpy(&_keypoint_buffer[0], keys, 4 * num * sizeof(float));
//location and scale can be skipped
_existing_keypoints = SIFT_SKIP_DETECTION;
//filtering is skipped if it is running on the same image
if(run_on_current) _existing_keypoints |= SIFT_SKIP_FILTERING;
//orientation can be skipped if specified
if(skip_orientation) _existing_keypoints |= SIFT_SKIP_ORIENTATION;
//hacking parameter for using rectangle description mode
if(skip_orientation == -1) _existing_keypoints |= SIFT_RECT_DESCRIPTION;
}
void SiftPyramid::SaveSIFT(const char * szFileName)
{
if (_featureNum <=0) return;
float * pk = &_keypoint_buffer[0];
if(GlobalUtil::_BinarySIFT)
{
std::ofstream out(szFileName, ios::binary);
out.write((char* )(&_featureNum), sizeof(int));
if(GlobalUtil::_DescriptorPPT)
{
int dim = 128;
out.write((char* )(&dim), sizeof(int));
float * pd = &_descriptor_buffer[0] ;
for(int i = 0; i < _featureNum; i++, pk+=4, pd +=128)
{
out.write((char* )(pk +1), sizeof(float));
out.write((char* )(pk), sizeof(float));
out.write((char* )(pk+2), 2 * sizeof(float));
out.write((char* )(pd), 128 * sizeof(float));
}
}else
{
int dim = 0;
out.write((char* )(&dim), sizeof(int));
for(int i = 0; i < _featureNum; i++, pk+=4)
{
out.write((char* )(pk +1), sizeof(float));
out.write((char* )(pk), sizeof(float));
out.write((char* )(pk+2), 2 * sizeof(float));
}
}
}else
{
std::ofstream out(szFileName);
out.flags(ios::fixed);
if(GlobalUtil::_DescriptorPPT)
{
float * pd = &_descriptor_buffer[0] ;
out<<_featureNum<<" 128"<<endl;
for(int i = 0; i < _featureNum; i++)
{
//in y, x, scale, orientation order
out<<setprecision(2) << pk[1]<<" "<<setprecision(2) << pk[0]<<" "
<<setprecision(3) << pk[2]<<" " <<setprecision(3) << pk[3]<< endl;
////out << setprecision(12) << pk[1] << " " << pk[0] << " " << pk[2] << " " << pk[3] << endl;
pk+=4;
for(int k = 0; k < 128; k ++, pd++)
{
if(GlobalUtil::_NormalizedSIFT)
out<< ((unsigned int)floor(0.5+512.0f*(*pd)))<<" ";
else
out << setprecision(8) << pd[0] << " ";
if ( (k+1)%20 == 0 ) out<<endl; //suggested by Martin Schneider
}
out<<endl;
}
}else
{
out<<_featureNum<<" 0"<<endl;
for(int i = 0; i < _featureNum; i++, pk+=4)
{
out<<pk[1]<<" "<<pk[0]<<" "<<pk[2]<<" " << pk[3]<<endl;
}
}
}
}
#ifdef DEBUG_SIFTGPU
void SiftPyramid::BeginDEBUG(const char *imagepath)
{
if(imagepath && imagepath[0])
{
strcpy(_debug_path, imagepath);
strcat(_debug_path, ".debug");
}else
{
strcpy(_debug_path, ".debug");
}
mkdir(_debug_path);
chmod(_debug_path, _S_IREAD | _S_IWRITE);
}
void SiftPyramid::StopDEBUG()
{
_debug_path[0] = 0;
}
void SiftPyramid::WriteTextureForDEBUG(GLTexImage * tex, const char *namet, ...)
{
char name[_MAX_PATH];
char * p = name, * ps = _debug_path;
while(*ps) *p++ = *ps ++;
*p++ = '/';
va_list marker;
va_start(marker, namet);
vsprintf(p, namet, marker);
va_end(marker);
unsigned int imID;
int width = tex->GetImgWidth();
int height = tex->GetImgHeight();
float* buffer1 = new float[ width * height * 4];
float* buffer2 = new float[ width * height * 4];
//read data back
glReadBuffer(GL_COLOR_ATTACHMENT0_EXT);
tex->AttachToFBO(0);
tex->FitTexViewPort();
glReadPixels(0, 0, width, height, GL_RGBA , GL_FLOAT, buffer1);
//Tiffs saved with IL are flipped
for(int i = 0; i < height; i++)
{
memcpy(buffer2 + i * width * 4,
buffer1 + (height - i - 1) * width * 4,
width * 4 * sizeof(float));
}
//save data as floating point tiff file
ilGenImages(1, &imID);
ilBindImage(imID);
ilEnable(IL_FILE_OVERWRITE);
ilTexImage(width, height, 1, 4, IL_RGBA, IL_FLOAT, buffer2);
ilSave(IL_TIF, name);
ilDeleteImages(1, &imID);
delete buffer1;
delete buffer2;
glReadBuffer(GL_NONE);
}
#endif