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712 lines
21 KiB
712 lines
21 KiB
////////////////////////////////////////////////////////////////////////////
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// File: SiftMatch.cpp
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// Author: Changchang Wu
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// Description : implementation of SiftMatchGPU and SiftMatchGL
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//
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//
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// Copyright (c) 2007 University of North Carolina at Chapel Hill
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// All Rights Reserved
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//
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// Permission to use, copy, modify and distribute this software and its
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// documentation for educational, research and non-profit purposes, without
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// fee, and without a written agreement is hereby granted, provided that the
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// above copyright notice and the following paragraph appear in all copies.
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//
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// The University of North Carolina at Chapel Hill make no representations
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// about the suitability of this software for any purpose. It is provided
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// 'as is' without express or implied warranty.
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//
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// Please send BUG REPORTS to ccwu@cs.unc.edu
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//
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////////////////////////////////////////////////////////////////////////////
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#include "GL/glew.h"
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#include <iostream>
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#include <iomanip>
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#include <vector>
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#include <sstream>
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#include <algorithm>
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using namespace std;
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#include <string.h>
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#include "GlobalUtil.h"
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#include "ProgramGLSL.h"
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#include "GLTexImage.h"
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#include "SiftGPU.h"
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#include "SiftMatch.h"
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#include "FrameBufferObject.h"
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#if defined(CUDA_SIFTGPU_ENABLED)
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#include "CuTexImage.h"
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#include "SiftMatchCU.h"
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#endif
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SiftMatchGL::SiftMatchGL(int max_sift, int use_glsl): SiftMatchGPU()
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{
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s_multiply = s_col_max = s_row_max = s_guided_mult = NULL;
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_num_sift[0] = _num_sift[1] = 0;
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_id_sift[0] = _id_sift[1] = 0;
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_have_loc[0] = _have_loc[1] = 0;
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__max_sift = max_sift <=0 ? 4096 : ((max_sift + 31)/ 32 * 32) ;
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_pixel_per_sift = 32; //must be 32
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_sift_num_stripe = 1;
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_sift_per_stripe = 1;
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_sift_per_row = _sift_per_stripe * _sift_num_stripe;
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_initialized = 0;
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}
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SiftMatchGL::~SiftMatchGL()
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{
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if(s_multiply) delete s_multiply;
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if(s_guided_mult) delete s_guided_mult;
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if(s_col_max) delete s_col_max;
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if(s_row_max) delete s_row_max;
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}
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bool SiftMatchGL::Allocate(int max_sift, int mbm) {
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SetMaxSift(max_sift);
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return glGetError() == GL_NO_ERROR;
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}
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void SiftMatchGL::SetMaxSift(int max_sift)
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{
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max_sift = ((max_sift + 31)/32)*32;
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if(max_sift > GlobalUtil::_texMaxDimGL) max_sift = GlobalUtil::_texMaxDimGL;
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if(max_sift > __max_sift)
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{
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__max_sift = max_sift;
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AllocateSiftMatch();
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_have_loc[0] = _have_loc[1] = 0;
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_id_sift[0] = _id_sift[1] = -1;
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_num_sift[0] = _num_sift[1] = 1;
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}else
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{
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__max_sift = max_sift;
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}
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}
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void SiftMatchGL::AllocateSiftMatch()
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{
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//parameters, number of sift is limited by the texture size
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if(__max_sift > GlobalUtil::_texMaxDimGL) __max_sift = GlobalUtil::_texMaxDimGL;
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///
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int h = __max_sift / _sift_per_row;
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int n = (GlobalUtil::_texMaxDimGL + h - 1) / GlobalUtil::_texMaxDimGL;
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if ( n > 1) {_sift_num_stripe *= n; _sift_per_row *= n; }
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//initialize
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_texDes[0].InitTexture(_sift_per_row * _pixel_per_sift, __max_sift / _sift_per_row, 0,GL_RGBA8);
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_texDes[1].InitTexture(_sift_per_row * _pixel_per_sift, __max_sift / _sift_per_row, 0, GL_RGBA8);
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_texLoc[0].InitTexture(_sift_per_row , __max_sift / _sift_per_row, 0);
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_texLoc[1].InitTexture(_sift_per_row , __max_sift / _sift_per_row, 0);
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if(GlobalUtil::_SupportNVFloat || GlobalUtil::_SupportTextureRG)
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{
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//use single-component texture to save memory
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#ifndef GL_R32F
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#define GL_R32F 0x822E
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#endif
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GLuint format = GlobalUtil::_SupportNVFloat ? GL_FLOAT_R_NV : GL_R32F;
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_texDot.InitTexture(__max_sift, __max_sift, 0, format);
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_texMatch[0].InitTexture(16, __max_sift / 16, 0, format);
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_texMatch[1].InitTexture(16, __max_sift / 16, 0, format);
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}else
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{
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_texDot.InitTexture(__max_sift, __max_sift, 0);
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_texMatch[0].InitTexture(16, __max_sift / 16, 0);
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_texMatch[1].InitTexture(16, __max_sift / 16, 0);
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}
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}
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void SiftMatchGL::InitSiftMatch()
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{
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if(_initialized) return;
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GlobalUtil::InitGLParam(0);
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if(GlobalUtil::_GoodOpenGL == 0) return;
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AllocateSiftMatch();
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LoadSiftMatchShadersGLSL();
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_initialized = 1;
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}
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void SiftMatchGL::SetDescriptors(int index, int num, const unsigned char* descriptors, int id)
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{
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if(_initialized == 0) return;
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if (index > 1) index = 1;
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if (index < 0) index = 0;
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_have_loc[index] = 0;
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//the same feature is already set
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if(id !=-1 && id == _id_sift[index]) return ;
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_id_sift[index] = id;
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if(num > __max_sift) num = __max_sift;
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sift_buffer.resize(num * 128 /4);
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memcpy(&sift_buffer[0], descriptors, 128 * num);
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_num_sift[index] = num;
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int w = _sift_per_row * _pixel_per_sift;
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int h = (num + _sift_per_row - 1)/ _sift_per_row;
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sift_buffer.resize(w * h * 4, 0);
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_texDes[index].SetImageSize(w , h);
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_texDes[index].BindTex();
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if(_sift_num_stripe == 1)
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{
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glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, w, h, GL_RGBA, GL_UNSIGNED_BYTE, &sift_buffer[0]);
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}else
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{
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for(int i = 0; i < _sift_num_stripe; ++i)
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{
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int ws = _sift_per_stripe * _pixel_per_sift;
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int x = i * ws;
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int pos = i * ws * h * 4;
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glTexSubImage2D(GlobalUtil::_texTarget, 0, x, 0, ws, h, GL_RGBA, GL_UNSIGNED_BYTE, &sift_buffer[pos]);
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}
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}
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_texDes[index].UnbindTex();
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}
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void SiftMatchGL::SetFeautreLocation(int index, const float* locations, int gap)
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{
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if(_num_sift[index] <=0) return;
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int w = _sift_per_row ;
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int h = (_num_sift[index] + _sift_per_row - 1)/ _sift_per_row;
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sift_buffer.resize(_num_sift[index] * 2);
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if(gap == 0)
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{
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memcpy(&sift_buffer[0], locations, _num_sift[index] * 2 * sizeof(float));
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}else
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{
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for(int i = 0; i < _num_sift[index]; ++i)
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{
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sift_buffer[i*2] = *locations++;
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sift_buffer[i*2+1]= *locations ++;
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locations += gap;
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}
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}
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sift_buffer.resize(w * h * 2, 0);
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_texLoc[index].SetImageSize(w , h);
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_texLoc[index].BindTex();
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if(_sift_num_stripe == 1)
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{
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glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, w, h, GL_LUMINANCE_ALPHA , GL_FLOAT , &sift_buffer[0]);
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}else
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{
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for(int i = 0; i < _sift_num_stripe; ++i)
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{
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int ws = _sift_per_stripe;
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int x = i * ws;
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int pos = i * ws * h * 2;
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glTexSubImage2D(GlobalUtil::_texTarget, 0, x, 0, ws, h, GL_LUMINANCE_ALPHA , GL_FLOAT, &sift_buffer[pos]);
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}
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}
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_texLoc[index].UnbindTex();
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_have_loc[index] = 1;
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}
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void SiftMatchGL::SetDescriptors(int index, int num, const float* descriptors, int id)
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{
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if(_initialized == 0) return;
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if (index > 1) index = 1;
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if (index < 0) index = 0;
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_have_loc[index] = 0;
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//the same feature is already set
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if(id !=-1 && id == _id_sift[index]) return ;
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_id_sift[index] = id;
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if(num > __max_sift) num = __max_sift;
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sift_buffer.resize(num * 128 /4);
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unsigned char * pub = (unsigned char*) &sift_buffer[0];
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for(int i = 0; i < 128 * num; ++i)
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{
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pub[i] = int(512 * descriptors[i] + 0.5);
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}
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_num_sift[index] = num;
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int w = _sift_per_row * _pixel_per_sift;
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int h = (num + _sift_per_row - 1)/ _sift_per_row;
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sift_buffer.resize(w * h * 4, 0);
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_texDes[index].SetImageSize(w, h);
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_texDes[index].BindTex();
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if(_sift_num_stripe == 1)
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{
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glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, w, h, GL_RGBA, GL_UNSIGNED_BYTE, &sift_buffer[0]);
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}else
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{
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for(int i = 0; i < _sift_num_stripe; ++i)
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{
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int ws = _sift_per_stripe * _pixel_per_sift;
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int x = i * ws;
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int pos = i * ws * h * 4;
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glTexSubImage2D(GlobalUtil::_texTarget, 0, x, 0, ws, h, GL_RGBA, GL_UNSIGNED_BYTE, &sift_buffer[pos]);
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}
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}
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_texDes[index].UnbindTex();
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}
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void SiftMatchGL::LoadSiftMatchShadersGLSL()
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{
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ProgramGLSL * program;
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ostringstream out;
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if(GlobalUtil::_IsNvidia)
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out << "#pragma optionNV(ifcvt none)\n"
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"#pragma optionNV(unroll all)\n";
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out << "#define SIFT_PER_STRIPE " << _sift_per_stripe << ".0\n"
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"#define PIXEL_PER_SIFT " << _pixel_per_sift << "\n"
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"uniform sampler2DRect tex1, tex2; uniform vec2 size;\n"
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"void main() \n"
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"{\n"
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<< " vec4 val = vec4(0.0, 0.0, 0.0, 0.0), data1, buf;\n"
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" vec2 index = gl_FragCoord.yx; \n"
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" vec2 stripe_size = size.xy * SIFT_PER_STRIPE;\n"
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" vec2 temp_div1 = index / stripe_size;\n"
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" vec2 stripe_index = floor(temp_div1);\n"
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" index = floor(stripe_size * (temp_div1 - stripe_index));\n"
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" vec2 temp_div2 = index * vec2(1.0 / float(SIFT_PER_STRIPE));\n"
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" vec2 temp_floor2 = floor(temp_div2);\n"
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" vec2 index_v = temp_floor2 + vec2(0.5);\n "
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" vec2 index_h = vec2(SIFT_PER_STRIPE)* (temp_div2 - temp_floor2);\n"
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" vec2 tx = (index_h + stripe_index * vec2(SIFT_PER_STRIPE))* vec2(PIXEL_PER_SIFT) + 0.5;\n"
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" vec2 tpos1, tpos2; \n"
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" vec4 tpos = vec4(tx, index_v);\n"
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//////////////////////////////////////////////////////
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" for(int i = 0; i < PIXEL_PER_SIFT; ++i){\n"
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" buf = texture2DRect(tex2, tpos.yw);\n"
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" data1 = texture2DRect(tex1, tpos.xz);\n"
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" val += (data1 * buf);\n"
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" tpos.xy = tpos.xy + vec2(1.0, 1.0);\n"
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" }\n"
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" const float factor = 0.248050689697265625; \n"
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" gl_FragColor =vec4(dot(val, vec4(factor)), index, 0);\n"
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"}"
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<< '\0';
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s_multiply = program= new ProgramGLSL(out.str().c_str());
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_param_multiply_tex1 = glGetUniformLocation(*program, "tex1");
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_param_multiply_tex2 = glGetUniformLocation(*program, "tex2");
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_param_multiply_size = glGetUniformLocation(*program, "size");
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out.seekp(ios::beg);
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if(GlobalUtil::_IsNvidia)
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out << "#pragma optionNV(ifcvt none)\n"
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"#pragma optionNV(unroll all)\n";
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out << "#define SIFT_PER_STRIPE " << _sift_per_stripe << ".0\n"
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"#define PIXEL_PER_SIFT " << _pixel_per_sift << "\n"
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"uniform sampler2DRect tex1, tex2;\n"
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"uniform sampler2DRect texL1;\n"
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"uniform sampler2DRect texL2; \n"
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"uniform mat3 H; \n"
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"uniform mat3 F; \n"
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"uniform vec4 size; \n"
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"void main() \n"
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"{\n"
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<< " vec4 val = vec4(0.0, 0.0, 0.0, 0.0), data1, buf;\n"
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" vec2 index = gl_FragCoord.yx; \n"
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" vec2 stripe_size = size.xy * SIFT_PER_STRIPE;\n"
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" vec2 temp_div1 = index / stripe_size;\n"
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" vec2 stripe_index = floor(temp_div1);\n"
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" index = floor(stripe_size * (temp_div1 - stripe_index));\n"
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" vec2 temp_div2 = index * vec2(1.0/ float(SIFT_PER_STRIPE));\n"
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" vec2 temp_floor2 = floor(temp_div2);\n"
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" vec2 index_v = temp_floor2 + vec2(0.5);\n "
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" vec2 index_h = vec2(SIFT_PER_STRIPE)* (temp_div2 - temp_floor2);\n"
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//read feature location data
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" vec4 tlpos = vec4((index_h + stripe_index * vec2(SIFT_PER_STRIPE)) + 0.5, index_v);\n"
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" vec3 loc1 = vec3(texture2DRect(texL1, tlpos.xz).xw, 1.0);\n"
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" vec3 loc2 = vec3(texture2DRect(texL2, tlpos.yw).xw, 1.0);\n"
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//check the guiding homography
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" vec3 hxloc1 = H* loc1;\n"
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" vec2 diff = loc2.xy- (hxloc1.xy/hxloc1.z);\n"
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" float disth = diff.x * diff.x + diff.y * diff.y;\n"
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" if(disth > size.z ) {gl_FragColor = vec4(0.0, index, 0.0); return;}\n"
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//check the guiding fundamental
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" vec3 fx1 = (F * loc1), ftx2 = (loc2 * F);\n"
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" float x2tfx1 = dot(loc2, fx1);\n"
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" vec4 temp = vec4(fx1.xy, ftx2.xy); \n"
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" float sampson_error = (x2tfx1 * x2tfx1) / dot(temp, temp);\n"
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" if(sampson_error > size.w) {gl_FragColor = vec4(0.0, index, 0.0); return;}\n"
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//compare feature descriptor
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" vec2 tx = (index_h + stripe_index * SIFT_PER_STRIPE)* vec2(PIXEL_PER_SIFT) + 0.5;\n"
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" vec2 tpos1, tpos2; \n"
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" vec4 tpos = vec4(tx, index_v);\n"
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" for(int i = 0; i < PIXEL_PER_SIFT; ++i){\n"
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" buf = texture2DRect(tex2, tpos.yw);\n"
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" data1 = texture2DRect(tex1, tpos.xz);\n"
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" val += data1 * buf;\n"
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" tpos.xy = tpos.xy + vec2(1.0, 1.0);\n"
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" }\n"
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" const float factor = 0.248050689697265625; \n"
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" gl_FragColor =vec4(dot(val, vec4(factor)), index, 0.0);\n"
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"}"
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<< '\0';
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s_guided_mult = program= new ProgramGLSL(out.str().c_str());
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_param_guided_mult_tex1 = glGetUniformLocation(*program, "tex1");
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_param_guided_mult_tex2= glGetUniformLocation(*program, "tex2");
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_param_guided_mult_texl1 = glGetUniformLocation(*program, "texL1");
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_param_guided_mult_texl2 = glGetUniformLocation(*program, "texL2");
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_param_guided_mult_h = glGetUniformLocation(*program, "H");
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_param_guided_mult_f = glGetUniformLocation(*program, "F");
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_param_guided_mult_param = glGetUniformLocation(*program, "size");
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//row max
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out.seekp(ios::beg);
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out << "#define BLOCK_WIDTH 16.0\n"
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"uniform sampler2DRect tex; uniform vec3 param;\n"
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"void main ()\n"
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"{\n"
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" float index = gl_FragCoord.x + floor(gl_FragCoord.y) * BLOCK_WIDTH; \n"
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" vec2 bestv = vec2(-1.0); float imax = -1.0;\n"
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" for(float i = 0.0; i < param.x; i ++){\n "
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" float v = texture2DRect(tex, vec2(i + 0.5, index)).r; \n"
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" imax = v > bestv.r ? i : imax; \n "
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" bestv = v > bestv.r? vec2(v, bestv.r) : max(bestv, vec2(v));\n "
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" }\n"
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" bestv = acos(min(bestv, 1.0));\n"
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" if(bestv.x >= param.y || bestv.x >= param.z * bestv.y) imax = -1.0;\n"
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" gl_FragColor = vec4(imax, bestv, index);\n"
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"}"
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<< '\0';
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s_row_max = program= new ProgramGLSL(out.str().c_str());
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_param_rowmax_param = glGetUniformLocation(*program, "param");
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out.seekp(ios::beg);
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out << "#define BLOCK_WIDTH 16.0\n"
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"uniform sampler2DRect tex; uniform vec3 param;\n"
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"void main ()\n"
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"{\n"
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" float index = gl_FragCoord.x + floor(gl_FragCoord.y) * BLOCK_WIDTH; \n"
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" vec2 bestv = vec2(-1.0); float imax = -1.0;\n"
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" for(float i = 0.0; i < param.x; i ++){\n "
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" float v = texture2DRect(tex, vec2(index, i + 0.5)).r; \n"
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" imax = (v > bestv.r)? i : imax; \n "
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" bestv = v > bestv.r? vec2(v, bestv.r) : max(bestv, vec2(v));\n "
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" }\n"
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" 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, uint32_t match_buffer[][2], float* H, float* F,
|
|
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);
|
|
glUniformMatrix3fv(_param_guided_mult_f, 1, GL_TRUE, F);
|
|
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, uint32_t 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++;
|
|
}
|
|
}
|
|
|
|
const GLenum error_code(glGetError());
|
|
if (error_code != GL_NO_ERROR) {
|
|
return -1;
|
|
}
|
|
|
|
return nmatch;
|
|
}
|
|
|
|
int SiftMatchGL::GetSiftMatch(int max_match, uint32_t 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);
|
|
}
|
|
|
|
bool SiftMatchGPU::Allocate(int max_sift, int mbm) {
|
|
if(__matcher) {
|
|
const bool success = __matcher->Allocate(max_sift, mbm);
|
|
__max_sift = __matcher->__max_sift;
|
|
return success;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
void SiftMatchGPU::SetMaxSift(int max_sift)
|
|
{
|
|
if(__matcher) {
|
|
__matcher->SetMaxSift(max(128, max_sift));
|
|
__max_sift = __matcher->__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, uint32_t match_buffer[][2], float* H, float* F,
|
|
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[9] = {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, uint32_t 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);
|
|
}
|
|
|