Quadrotor

////////////////////////////////////////////////////////////////////////////

//        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