root / rgbdslam / external / siftgpu / src / SiftGPU / PyramidGL.cpp @ 9240aaa3
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| 1 | 9240aaa3 | Alex | ////////////////////////////////////////////////////////////////////////////
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| 2 | // File: PyramidGL.cpp
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| 3 | // Author: Changchang Wu
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| 4 | // Description : implementation of PyramidGL/PyramidNaive/PyramidPackdc .
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| 5 | //
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| 6 | //
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| 7 | // Copyright (c) 2007 University of North Carolina at Chapel Hill
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| 8 | // All Rights Reserved
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| 9 | //
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| 10 | // Permission to use, copy, modify and distribute this software and its
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| 11 | // documentation for educational, research and non-profit purposes, without
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| 12 | // fee, and without a written agreement is hereby granted, provided that the
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| 13 | // above copyright notice and the following paragraph appear in all copies.
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| 14 | //
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| 15 | // The University of North Carolina at Chapel Hill make no representations
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| 16 | // about the suitability of this software for any purpose. It is provided
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| 17 | // 'as is' without express or implied warranty.
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| 18 | //
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| 19 | // Please send BUG REPORTS to ccwu@cs.unc.edu
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| 20 | //
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| 21 | ////////////////////////////////////////////////////////////////////////////
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| 22 | |||
| 23 | #include "GL/glew.h" |
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| 24 | #include <iostream> |
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| 25 | #include <iomanip> |
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| 26 | #include <vector> |
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| 27 | #include <algorithm> |
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| 28 | #include <fstream> |
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| 29 | #include <math.h> |
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| 30 | #include <string.h> |
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| 31 | using namespace std; |
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| 32 | |||
| 33 | #include "GlobalUtil.h" |
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| 34 | #include "GLTexImage.h" |
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| 35 | #include "SiftGPU.h" |
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| 36 | #include "ShaderMan.h" |
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| 37 | #include "SiftPyramid.h" |
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| 38 | #include "ProgramGLSL.h" |
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| 39 | #include "PyramidGL.h" |
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| 40 | #include "FrameBufferObject.h" |
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| 41 | |||
| 42 | |||
| 43 | #if defined(__SSE__) || _MSC_VER > 1200 |
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| 44 | #define USE_SSE_FOR_SIFTGPU
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| 45 | #include <xmmintrin.h> |
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| 46 | #else
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| 47 | //#pragma message( "SSE optimization off!\n" )
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| 48 | #endif
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| 49 | |||
| 50 | |||
| 51 | #define USE_TIMING() double t, t0, tt; |
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| 52 | #define OCTAVE_START() if(GlobalUtil::_timingO){ t = t0 = CLOCK(); cout<<"#"<<i+_down_sample_factor<<"\t"; } |
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| 53 | #define LEVEL_FINISH() if(GlobalUtil::_timingL){ glFinish(); tt = CLOCK();cout<<(tt-t)<<"\t"; t = CLOCK();} |
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| 54 | #define OCTAVE_FINISH() if(GlobalUtil::_timingO)cout<<"|\t"<<(CLOCK()-t0)<<endl; |
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| 55 | |||
| 56 | |||
| 57 | //////////////////////////////////////////////////////////////////////
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| 58 | // Construction/Destruction
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| 59 | //////////////////////////////////////////////////////////////////////
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| 60 | PyramidNaive::PyramidNaive(SiftParam& sp): PyramidGL(sp) |
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| 61 | {
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| 62 | _texPyramid = NULL;
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| 63 | _auxPyramid = NULL;
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| 64 | } |
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| 65 | |||
| 66 | PyramidNaive::~PyramidNaive() |
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| 67 | {
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| 68 | DestroyPyramidData(); |
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| 69 | } |
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| 70 | |||
| 71 | //align must be 2^i
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| 72 | void PyramidGL:: GetAlignedStorageSize(int num, int align, int &fw, int &fh) |
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| 73 | {
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| 74 | if(num <=0) |
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| 75 | {
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| 76 | fw = fh = 0;
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| 77 | }else if(num < align*align) |
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| 78 | {
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| 79 | fw = align; |
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| 80 | fh = (int)ceil(double(num) / fw); |
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| 81 | }else if(GlobalUtil::_NarrowFeatureTex) |
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| 82 | {
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| 83 | double dn = double(num); |
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| 84 | int nb = (int) ceil(dn/GlobalUtil::_texMaxDim/align); |
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| 85 | fw = align * nb; |
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| 86 | fh = (int)ceil(dn /fw);/**/ |
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| 87 | }else
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| 88 | {
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| 89 | double dn = double(num); |
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| 90 | int nb = (int) ceil(dn/GlobalUtil::_texMaxDim/align); |
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| 91 | fh = align * nb; |
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| 92 | if(nb <=1) |
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| 93 | {
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| 94 | fw = (int)ceil(dn / fh);
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| 95 | //align this dimension to blocksize
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| 96 | fw = ((int) ceil(double(fw) /align))*align; |
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| 97 | }else
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| 98 | {
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| 99 | fw = GlobalUtil::_texMaxDim; |
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| 100 | } |
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| 101 | |||
| 102 | } |
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| 103 | |||
| 104 | |||
| 105 | } |
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| 106 | |||
| 107 | void PyramidGL::GetTextureStorageSize(int num, int &fw, int& fh) |
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| 108 | {
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| 109 | if(num <=0) |
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| 110 | {
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| 111 | fw = fh = 0;
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| 112 | }else if(num <= GlobalUtil::_FeatureTexBlock) |
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| 113 | {
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| 114 | fw = num; |
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| 115 | fh = 1;
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| 116 | }else if(GlobalUtil::_NarrowFeatureTex) |
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| 117 | {
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| 118 | double dn = double(num); |
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| 119 | int nb = (int) ceil(dn/GlobalUtil::_texMaxDim/GlobalUtil::_FeatureTexBlock); |
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| 120 | fw = GlobalUtil::_FeatureTexBlock * nb; |
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| 121 | fh = (int)ceil(dn /fw);/**/ |
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| 122 | }else
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| 123 | {
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| 124 | double dn = double(num); |
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| 125 | int nb = (int) ceil(dn/GlobalUtil::_texMaxDim/GlobalUtil::_FeatureTexBlock); |
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| 126 | fh = GlobalUtil::_FeatureTexBlock * nb; |
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| 127 | if(nb <=1) |
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| 128 | {
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| 129 | fw = (int)ceil(dn / fh);
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| 130 | |||
| 131 | //align this dimension to blocksize
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| 132 | |||
| 133 | //
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| 134 | if( fw < fh)
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| 135 | {
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| 136 | int temp = fh;
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| 137 | fh = fw; |
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| 138 | fw = temp; |
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| 139 | } |
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| 140 | }else
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| 141 | {
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| 142 | fw = GlobalUtil::_texMaxDim; |
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| 143 | } |
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| 144 | } |
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| 145 | } |
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| 146 | |||
| 147 | void PyramidNaive::DestroyPyramidData()
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| 148 | {
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| 149 | if(_texPyramid)
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| 150 | {
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| 151 | delete [] _texPyramid;
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| 152 | _texPyramid = NULL;
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| 153 | } |
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| 154 | if(_auxPyramid)
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| 155 | {
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| 156 | delete [] _auxPyramid;
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| 157 | _auxPyramid = NULL;
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| 158 | } |
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| 159 | } |
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| 160 | PyramidGL::PyramidGL(SiftParam &sp):SiftPyramid(sp) |
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| 161 | {
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| 162 | _featureTex = NULL;
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| 163 | _orientationTex = NULL;
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| 164 | _descriptorTex = NULL;
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| 165 | _histoPyramidTex = NULL;
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| 166 | //////////////////////////
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| 167 | |||
| 168 | InitializeContext(); |
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| 169 | } |
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| 170 | |||
| 171 | PyramidGL::~PyramidGL() |
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| 172 | {
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| 173 | DestroyPerLevelData(); |
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| 174 | DestroySharedData(); |
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| 175 | ShaderMan::DestroyShaders(); |
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| 176 | } |
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| 177 | |||
| 178 | void PyramidGL::InitializeContext()
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| 179 | {
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| 180 | GlobalUtil::InitGLParam(0);
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| 181 | if(!GlobalUtil::_GoodOpenGL) return; |
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| 182 | |||
| 183 | //////////////////////////////////////////////
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| 184 | ShaderMan::InitShaderMan(param); |
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| 185 | } |
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| 186 | |||
| 187 | void PyramidGL::DestroyPerLevelData()
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| 188 | {
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| 189 | //integers vector to store the feature numbers.
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| 190 | if(_levelFeatureNum)
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| 191 | {
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| 192 | delete [] _levelFeatureNum;
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| 193 | _levelFeatureNum = NULL;
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| 194 | } |
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| 195 | //texture used to store features
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| 196 | if( _featureTex)
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| 197 | {
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| 198 | delete [] _featureTex;
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| 199 | _featureTex = NULL;
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| 200 | } |
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| 201 | //texture used for multi-orientation
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| 202 | if(_orientationTex)
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| 203 | {
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| 204 | delete [] _orientationTex;
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| 205 | _orientationTex = NULL;
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| 206 | } |
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| 207 | int no = _octave_num* param._dog_level_num;
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| 208 | |||
| 209 | //two sets of vbos used to display the features
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| 210 | if(_featureDisplayVBO)
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| 211 | {
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| 212 | glDeleteBuffers(no, _featureDisplayVBO); |
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| 213 | delete [] _featureDisplayVBO;
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| 214 | _featureDisplayVBO = NULL;
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| 215 | } |
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| 216 | if( _featurePointVBO)
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| 217 | {
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| 218 | glDeleteBuffers(no, _featurePointVBO); |
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| 219 | delete [] _featurePointVBO;
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| 220 | _featurePointVBO = NULL;
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| 221 | } |
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| 222 | |||
| 223 | } |
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| 224 | |||
| 225 | void PyramidGL::DestroySharedData()
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| 226 | {
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| 227 | //histogram reduction
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| 228 | if(_histoPyramidTex)
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| 229 | {
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| 230 | delete[] _histoPyramidTex;
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| 231 | _hpLevelNum = 0;
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| 232 | _histoPyramidTex = NULL;
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| 233 | } |
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| 234 | |||
| 235 | //descriptor storage shared by all levels
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| 236 | if(_descriptorTex)
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| 237 | {
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| 238 | delete [] _descriptorTex;
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| 239 | _descriptorTex = NULL;
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| 240 | } |
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| 241 | //cpu reduction buffer.
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| 242 | if(_histo_buffer)
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| 243 | {
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| 244 | delete[] _histo_buffer;
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| 245 | _histo_buffer = 0;
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| 246 | } |
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| 247 | } |
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| 248 | |||
| 249 | void PyramidNaive::FitHistogramPyramid()
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| 250 | {
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| 251 | GLTexImage * tex, *htex; |
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| 252 | int hist_level_num = _hpLevelNum - _pyramid_octave_first;
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| 253 | |||
| 254 | tex = GetBaseLevel(_octave_min , DATA_KEYPOINT) + 2;
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| 255 | htex = _histoPyramidTex + hist_level_num - 1;
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| 256 | int w = tex->GetImgWidth() >> 1; |
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| 257 | int h = tex->GetImgHeight() >> 1; |
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| 258 | |||
| 259 | for(int k = 0; k <hist_level_num -1; k++, htex--) |
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| 260 | {
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| 261 | if(htex->GetImgHeight()!= h || htex->GetImgWidth() != w)
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| 262 | {
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| 263 | htex->SetImageSize(w, h); |
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| 264 | htex->ZeroHistoMargin(); |
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| 265 | } |
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| 266 | |||
| 267 | w = (w + 1)>>1; h = (h + 1) >> 1; |
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| 268 | } |
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| 269 | } |
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| 270 | |||
| 271 | void PyramidNaive::FitPyramid(int w, int h) |
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| 272 | {
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| 273 | //(w, h) <= (_pyramid_width, _pyramid_height);
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| 274 | |||
| 275 | _pyramid_octave_first = 0;
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| 276 | //
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| 277 | _octave_num = GlobalUtil::_octave_num_default; |
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| 278 | |||
| 279 | int _octave_num_max = GetRequiredOctaveNum(min(w, h));
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| 280 | |||
| 281 | if(_octave_num < 1 || _octave_num > _octave_num_max) |
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| 282 | {
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| 283 | _octave_num = _octave_num_max; |
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| 284 | } |
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| 285 | |||
| 286 | |||
| 287 | int pw = _pyramid_width>>1, ph = _pyramid_height>>1; |
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| 288 | while(_pyramid_octave_first + _octave_num < _pyramid_octave_num &&
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| 289 | pw >= w && ph >= h) |
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| 290 | {
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| 291 | _pyramid_octave_first++; |
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| 292 | pw >>= 1;
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| 293 | ph >>= 1;
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| 294 | } |
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| 295 | |||
| 296 | for(int i = 0; i < _octave_num; i++) |
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| 297 | {
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| 298 | GLTexImage * tex = GetBaseLevel(i + _octave_min); |
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| 299 | GLTexImage * aux = GetBaseLevel(i + _octave_min, DATA_KEYPOINT); |
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| 300 | for(int j = param._level_min; j <= param._level_max; j++, tex++, aux++) |
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| 301 | {
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| 302 | tex->SetImageSize(w, h); |
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| 303 | aux->SetImageSize(w, h); |
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| 304 | } |
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| 305 | w>>=1;
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| 306 | h>>=1;
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| 307 | } |
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| 308 | } |
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| 309 | void PyramidNaive::InitPyramid(int w, int h, int ds) |
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| 310 | {
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| 311 | int wp, hp, toobig = 0; |
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| 312 | if(ds == 0) |
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| 313 | {
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| 314 | _down_sample_factor = 0;
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| 315 | if(GlobalUtil::_octave_min_default>=0) |
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| 316 | {
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| 317 | wp = w >> GlobalUtil::_octave_min_default; |
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| 318 | hp = h >> GlobalUtil::_octave_min_default; |
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| 319 | }else
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| 320 | {
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| 321 | wp = w << (-GlobalUtil::_octave_min_default); |
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| 322 | hp = h << (-GlobalUtil::_octave_min_default); |
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| 323 | } |
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| 324 | _octave_min = _octave_min_default; |
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| 325 | }else
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| 326 | {
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| 327 | //must use 0 as _octave_min;
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| 328 | _octave_min = 0;
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| 329 | _down_sample_factor = ds; |
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| 330 | w >>= ds; |
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| 331 | h >>= ds; |
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| 332 | wp = w; |
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| 333 | hp = h; |
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| 334 | |||
| 335 | } |
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| 336 | |||
| 337 | while(wp > GlobalUtil::_texMaxDim || hp > GlobalUtil::_texMaxDim)
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| 338 | {
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| 339 | _octave_min ++; |
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| 340 | wp >>= 1;
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| 341 | hp >>= 1;
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| 342 | toobig = 1;
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| 343 | } |
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| 344 | |||
| 345 | if(toobig && GlobalUtil::_verbose && _octave_min > 0) |
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| 346 | {
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| 347 | |||
| 348 | std::cout<< "**************************************************************\n"
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| 349 | "Image larger than allowed dimension, data will be downsampled!\n"
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| 350 | "use -maxd to change the settings\n"
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| 351 | "***************************************************************\n";
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| 352 | } |
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| 353 | |||
| 354 | if( wp == _pyramid_width && hp == _pyramid_height && _allocated )
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| 355 | {
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| 356 | FitPyramid(wp, hp); |
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| 357 | }else if(GlobalUtil::_ForceTightPyramid || _allocated ==0) |
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| 358 | {
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| 359 | ResizePyramid(wp, hp); |
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| 360 | } |
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| 361 | else if( wp > _pyramid_width || hp > _pyramid_height ) |
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| 362 | {
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| 363 | ResizePyramid(max(wp, _pyramid_width), max(hp, _pyramid_height)); |
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| 364 | if(wp < _pyramid_width || hp < _pyramid_height) FitPyramid(wp, hp);
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| 365 | } |
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| 366 | else
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| 367 | {
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| 368 | //try use the pyramid allocated for large image on small input images
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| 369 | FitPyramid(wp, hp); |
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| 370 | } |
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| 371 | |||
| 372 | //select the initial smoothing filter according to the new _octave_min
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| 373 | ShaderMan::SelectInitialSmoothingFilter(_octave_min + _down_sample_factor, param); |
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| 374 | } |
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| 375 | |||
| 376 | void PyramidNaive::ResizePyramid( int w, int h) |
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| 377 | {
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| 378 | //
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| 379 | unsigned int totalkb = 0; |
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| 380 | int _octave_num_new, input_sz;
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| 381 | int i, j;
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| 382 | GLTexImage * tex, *aux; |
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| 383 | //
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| 384 | |||
| 385 | if(_pyramid_width == w && _pyramid_height == h && _allocated) return; |
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| 386 | |||
| 387 | if(w > GlobalUtil::_texMaxDim || h > GlobalUtil::_texMaxDim) return ; |
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| 388 | |||
| 389 | if(GlobalUtil::_verbose && GlobalUtil::_timingS) std::cout<<"[Allocate Pyramid]:\t" <<w<<"x"<<h<<endl; |
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| 390 | //first octave does not change
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| 391 | _pyramid_octave_first = 0;
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| 392 | |||
| 393 | |||
| 394 | //compute # of octaves
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| 395 | |||
| 396 | input_sz = min(w,h) ; |
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| 397 | |||
| 398 | |||
| 399 | _pyramid_width = w; |
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| 400 | _pyramid_height = h; |
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| 401 | |||
| 402 | //reset to preset parameters
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| 403 | _octave_num_new = GlobalUtil::_octave_num_default; |
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| 404 | |||
| 405 | if(_octave_num_new < 1) _octave_num_new = GetRequiredOctaveNum(input_sz) ; |
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| 406 | |||
| 407 | if(_pyramid_octave_num != _octave_num_new)
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| 408 | {
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| 409 | //destroy the original pyramid if the # of octave changes
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| 410 | if(_octave_num >0) |
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| 411 | {
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| 412 | DestroyPerLevelData(); |
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| 413 | DestroyPyramidData(); |
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| 414 | } |
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| 415 | _pyramid_octave_num = _octave_num_new; |
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| 416 | } |
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| 417 | |||
| 418 | _octave_num = _pyramid_octave_num; |
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| 419 | |||
| 420 | int noct = _octave_num;
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| 421 | int nlev = param._level_num;
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| 422 | |||
| 423 | // //initialize the pyramid
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| 424 | if(_texPyramid==NULL) _texPyramid = new GLTexImage[ noct* nlev ]; |
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| 425 | if(_auxPyramid==NULL) _auxPyramid = new GLTexImage[ noct* nlev ]; |
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| 426 | |||
| 427 | |||
| 428 | tex = GetBaseLevel(_octave_min, DATA_GAUSSIAN); |
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| 429 | aux = GetBaseLevel(_octave_min, DATA_KEYPOINT); |
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| 430 | for(i = 0; i< noct; i++) |
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| 431 | {
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| 432 | totalkb += (nlev * w * h * 16 / 1024); |
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| 433 | for( j = 0; j< nlev; j++, tex++) |
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| 434 | {
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| 435 | tex->InitTexture(w, h); |
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| 436 | //tex->AttachToFBO(0);
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| 437 | } |
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| 438 | //several auxilary textures are not actually required
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| 439 | totalkb += ((nlev - 3) * w * h * 16 /1024); |
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| 440 | for( j = 0; j< nlev ; j++, aux++) |
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| 441 | {
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| 442 | if(j < 2) continue; |
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| 443 | if(j >= nlev - 1) continue; |
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| 444 | aux->InitTexture(w, h, 0);
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| 445 | //aux->AttachToFBO(0);
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| 446 | } |
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| 447 | |||
| 448 | w>>=1;
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| 449 | h>>=1;
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| 450 | } |
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| 451 | |||
| 452 | totalkb += ResizeFeatureStorage(); |
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| 453 | |||
| 454 | |||
| 455 | //
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| 456 | _allocated = 1;
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| 457 | |||
| 458 | if(GlobalUtil::_verbose && GlobalUtil::_timingS) std::cout<<"[Allocate Pyramid]:\t" <<(totalkb/1024)<<"MB\n"; |
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| 459 | |||
| 460 | } |
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| 461 | |||
| 462 | |||
| 463 | int PyramidGL::ResizeFeatureStorage()
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| 464 | {
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| 465 | int totalkb = 0; |
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| 466 | if(_levelFeatureNum==NULL) _levelFeatureNum = new int[_octave_num * param._dog_level_num]; |
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| 467 | std::fill(_levelFeatureNum, _levelFeatureNum+_octave_num * param._dog_level_num, 0);
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| 468 | |||
| 469 | int wmax = GetBaseLevel(_octave_min)->GetDrawWidth();
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| 470 | int hmax = GetBaseLevel(_octave_min)->GetDrawHeight();
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| 471 | int w ,h, i;
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| 472 | |||
| 473 | //use a fbo to initialize textures..
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| 474 | FrameBufferObject fbo; |
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| 475 | |||
| 476 | //
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| 477 | if(_histo_buffer == NULL) _histo_buffer = new float[1 << (2 + 2 * GlobalUtil::_ListGenSkipGPU)]; |
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| 478 | //histogram for feature detection
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| 479 | |||
| 480 | int num = (int)ceil(log(double(max(wmax, hmax)))/log(2.0)); |
||
| 481 | |||
| 482 | if( _hpLevelNum != num)
|
||
| 483 | {
|
||
| 484 | _hpLevelNum = num; |
||
| 485 | if(GlobalUtil::_ListGenGPU)
|
||
| 486 | {
|
||
| 487 | if(_histoPyramidTex ) delete [] _histoPyramidTex; |
||
| 488 | _histoPyramidTex = new GLTexImage[_hpLevelNum];
|
||
| 489 | w = h = 1 ;
|
||
| 490 | for(i = 0; i < _hpLevelNum; i++) |
||
| 491 | {
|
||
| 492 | _histoPyramidTex[i].InitTexture(w, h, 0);
|
||
| 493 | _histoPyramidTex[i].AttachToFBO(0);
|
||
| 494 | w<<=1;
|
||
| 495 | h<<=1;
|
||
| 496 | } |
||
| 497 | } |
||
| 498 | } |
||
| 499 | |||
| 500 | // (4 ^ (_hpLevelNum) -1 / 3) pixels
|
||
| 501 | if(GlobalUtil::_ListGenGPU) totalkb += (((1 << (2 * _hpLevelNum)) -1) / 3 * 16 / 1024); |
||
| 502 | |||
| 503 | |||
| 504 | |||
| 505 | //initialize the feature texture
|
||
| 506 | |||
| 507 | int idx = 0, n = _octave_num * param._dog_level_num; |
||
| 508 | if(_featureTex==NULL) _featureTex = new GLTexImage[n]; |
||
| 509 | if(GlobalUtil::_MaxOrientation >1 && GlobalUtil::_OrientationPack2==0) |
||
| 510 | {
|
||
| 511 | if(_orientationTex== NULL) _orientationTex = new GLTexImage[n]; |
||
| 512 | } |
||
| 513 | |||
| 514 | |||
| 515 | for(i = 0; i < _octave_num; i++) |
||
| 516 | {
|
||
| 517 | GLTexImage * tex = GetBaseLevel(i+_octave_min); |
||
| 518 | int fmax = int(tex->GetImgWidth()*tex->GetImgHeight()*GlobalUtil::_MaxFeaturePercent); |
||
| 519 | int fw, fh;
|
||
| 520 | //
|
||
| 521 | if(fmax > GlobalUtil::_MaxLevelFeatureNum) fmax = GlobalUtil::_MaxLevelFeatureNum;
|
||
| 522 | else if(fmax < 32) fmax = 32; //give it at least a space of 32 feature |
||
| 523 | |||
| 524 | GetTextureStorageSize(fmax, fw, fh); |
||
| 525 | |||
| 526 | for(int j = 0; j < param._dog_level_num; j++, idx++) |
||
| 527 | {
|
||
| 528 | |||
| 529 | _featureTex[idx].InitTexture(fw, fh, 0);
|
||
| 530 | _featureTex[idx].AttachToFBO(0);
|
||
| 531 | //
|
||
| 532 | if(_orientationTex)
|
||
| 533 | {
|
||
| 534 | _orientationTex[idx].InitTexture(fw, fh, 0);
|
||
| 535 | _orientationTex[idx].AttachToFBO(0);
|
||
| 536 | } |
||
| 537 | } |
||
| 538 | totalkb += fw * fh * 16 * param._dog_level_num * (_orientationTex? 2 : 1) /1024; |
||
| 539 | } |
||
| 540 | |||
| 541 | |||
| 542 | //this just need be initialized once
|
||
| 543 | if(_descriptorTex==NULL) |
||
| 544 | {
|
||
| 545 | //initialize feature texture pyramid
|
||
| 546 | wmax = _featureTex->GetImgWidth(); |
||
| 547 | hmax = _featureTex->GetImgHeight(); |
||
| 548 | |||
| 549 | int nf, ns;
|
||
| 550 | if(GlobalUtil::_DescriptorPPT)
|
||
| 551 | {
|
||
| 552 | //32*4 = 128.
|
||
| 553 | nf = 32 / GlobalUtil::_DescriptorPPT; // how many textures we need |
||
| 554 | ns = max(4, GlobalUtil::_DescriptorPPT); // how many point in one texture for one descriptor |
||
| 555 | }else
|
||
| 556 | {
|
||
| 557 | //at least one, resue for visualization and other work
|
||
| 558 | nf = 1; ns = 4; |
||
| 559 | } |
||
| 560 | //
|
||
| 561 | _alignment = ns; |
||
| 562 | //
|
||
| 563 | _descriptorTex = new GLTexImage[nf];
|
||
| 564 | |||
| 565 | int fw, fh;
|
||
| 566 | GetAlignedStorageSize(hmax*wmax* max(ns, 10), _alignment, fw, fh);
|
||
| 567 | |||
| 568 | if(fh < hmax ) fh = hmax;
|
||
| 569 | if(fw < wmax ) fw = wmax;
|
||
| 570 | |||
| 571 | totalkb += ( fw * fh * nf * 16 /1024); |
||
| 572 | for(i =0; i < nf; i++) |
||
| 573 | {
|
||
| 574 | _descriptorTex[i].InitTexture(fw, fh); |
||
| 575 | } |
||
| 576 | }else
|
||
| 577 | {
|
||
| 578 | int nf = GlobalUtil::_DescriptorPPT? 32 / GlobalUtil::_DescriptorPPT: 1; |
||
| 579 | totalkb += nf * _descriptorTex[0].GetTexWidth() * _descriptorTex[0].GetTexHeight() * 16 /1024; |
||
| 580 | } |
||
| 581 | return totalkb;
|
||
| 582 | } |
||
| 583 | |||
| 584 | |||
| 585 | void PyramidNaive::BuildPyramid(GLTexInput *input)
|
||
| 586 | {
|
||
| 587 | USE_TIMING(); |
||
| 588 | GLTexPacked * tex; |
||
| 589 | FilterProgram** filter; |
||
| 590 | FrameBufferObject fbo; |
||
| 591 | |||
| 592 | glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 593 | input->FitTexViewPort(); |
||
| 594 | |||
| 595 | for (int i = _octave_min; i < _octave_min + _octave_num; i++) |
||
| 596 | {
|
||
| 597 | |||
| 598 | tex = (GLTexPacked*)GetBaseLevel(i); |
||
| 599 | filter = ShaderMan::s_bag->f_gaussian_step; |
||
| 600 | |||
| 601 | OCTAVE_START(); |
||
| 602 | |||
| 603 | if( i == _octave_min )
|
||
| 604 | {
|
||
| 605 | if(i < 0) TextureUpSample(tex, input, 1<<(-i) ); |
||
| 606 | else TextureDownSample(tex, input, 1<<i); |
||
| 607 | ShaderMan::FilterInitialImage(tex, NULL);
|
||
| 608 | }else
|
||
| 609 | {
|
||
| 610 | TextureDownSample(tex, GetLevelTexture(i-1, param._level_ds));
|
||
| 611 | ShaderMan::FilterSampledImage(tex, NULL);
|
||
| 612 | } |
||
| 613 | LEVEL_FINISH(); |
||
| 614 | |||
| 615 | for(int j = param._level_min + 1; j <= param._level_max ; j++, tex++, filter++) |
||
| 616 | {
|
||
| 617 | // filtering
|
||
| 618 | ShaderMan::FilterImage(*filter, tex+1, tex, NULL); |
||
| 619 | LEVEL_FINISH(); |
||
| 620 | } |
||
| 621 | OCTAVE_FINISH(); |
||
| 622 | |||
| 623 | } |
||
| 624 | if(GlobalUtil::_timingS) glFinish();
|
||
| 625 | UnloadProgram(); |
||
| 626 | } |
||
| 627 | |||
| 628 | |||
| 629 | |||
| 630 | |||
| 631 | |||
| 632 | |||
| 633 | GLTexImage* PyramidNaive::GetLevelTexture(int octave, int level, int dataName) |
||
| 634 | {
|
||
| 635 | if(octave <_octave_min || octave > _octave_min + _octave_num) return NULL; |
||
| 636 | switch(dataName)
|
||
| 637 | {
|
||
| 638 | case DATA_GAUSSIAN:
|
||
| 639 | case DATA_DOG:
|
||
| 640 | case DATA_GRAD:
|
||
| 641 | case DATA_ROT:
|
||
| 642 | return _texPyramid+ (_pyramid_octave_first + octave - _octave_min) * param._level_num + (level - param._level_min);
|
||
| 643 | case DATA_KEYPOINT:
|
||
| 644 | return _auxPyramid + (_pyramid_octave_first + octave - _octave_min) * param._level_num + (level - param._level_min);
|
||
| 645 | default:
|
||
| 646 | return NULL; |
||
| 647 | } |
||
| 648 | } |
||
| 649 | |||
| 650 | GLTexImage* PyramidNaive::GetLevelTexture(int octave, int level) |
||
| 651 | {
|
||
| 652 | return _texPyramid+ (_pyramid_octave_first + octave - _octave_min) * param._level_num
|
||
| 653 | + (level - param._level_min); |
||
| 654 | } |
||
| 655 | |||
| 656 | //in the packed implementation
|
||
| 657 | // DATA_GAUSSIAN, DATA_DOG, DATA_GAD will be stored in different textures.
|
||
| 658 | GLTexImage* PyramidNaive::GetBaseLevel(int octave, int dataName) |
||
| 659 | {
|
||
| 660 | if(octave <_octave_min || octave > _octave_min + _octave_num) return NULL; |
||
| 661 | switch(dataName)
|
||
| 662 | {
|
||
| 663 | case DATA_GAUSSIAN:
|
||
| 664 | case DATA_DOG:
|
||
| 665 | case DATA_GRAD:
|
||
| 666 | case DATA_ROT:
|
||
| 667 | return _texPyramid+ (_pyramid_octave_first + octave - _octave_min) * param._level_num;
|
||
| 668 | case DATA_KEYPOINT:
|
||
| 669 | return _auxPyramid + (_pyramid_octave_first + octave - _octave_min) * param._level_num;
|
||
| 670 | default:
|
||
| 671 | return NULL; |
||
| 672 | } |
||
| 673 | } |
||
| 674 | |||
| 675 | |||
| 676 | |||
| 677 | |||
| 678 | |||
| 679 | |||
| 680 | |||
| 681 | |||
| 682 | |||
| 683 | void PyramidNaive::ComputeGradient()
|
||
| 684 | {
|
||
| 685 | |||
| 686 | int i, j;
|
||
| 687 | double ts, t1;
|
||
| 688 | GLTexImage * tex; |
||
| 689 | FrameBufferObject fbo; |
||
| 690 | |||
| 691 | |||
| 692 | if(GlobalUtil::_timingS && GlobalUtil::_verbose)ts = CLOCK();
|
||
| 693 | |||
| 694 | glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 695 | |||
| 696 | for ( i = _octave_min; i < _octave_min + _octave_num; i++)
|
||
| 697 | {
|
||
| 698 | for( j = param._level_min + 1 ; j < param._level_max ; j++) |
||
| 699 | {
|
||
| 700 | tex = GetLevelTexture(i, j); |
||
| 701 | tex->FitTexViewPort(); |
||
| 702 | tex->AttachToFBO(0);
|
||
| 703 | tex->BindTex(); |
||
| 704 | ShaderMan::UseShaderGradientPass(); |
||
| 705 | tex->DrawQuadMT4(); |
||
| 706 | } |
||
| 707 | } |
||
| 708 | |||
| 709 | if(GlobalUtil::_timingS && GlobalUtil::_verbose)
|
||
| 710 | {
|
||
| 711 | glFinish(); |
||
| 712 | t1 = CLOCK(); |
||
| 713 | std::cout<<"<Compute Gradient>\t"<<(t1-ts)<<"\n"; |
||
| 714 | } |
||
| 715 | |||
| 716 | UnloadProgram(); |
||
| 717 | GLTexImage::UnbindMultiTex(3);
|
||
| 718 | fbo.UnattachTex(GL_COLOR_ATTACHMENT1_EXT); |
||
| 719 | } |
||
| 720 | |||
| 721 | |||
| 722 | //keypoint detection with subpixel localization
|
||
| 723 | void PyramidNaive::DetectKeypointsEX()
|
||
| 724 | {
|
||
| 725 | int i, j;
|
||
| 726 | double t0, t, ts, t1, t2;
|
||
| 727 | GLTexImage * tex, *aux; |
||
| 728 | FrameBufferObject fbo; |
||
| 729 | |||
| 730 | if(GlobalUtil::_timingS && GlobalUtil::_verbose)ts = CLOCK();
|
||
| 731 | |||
| 732 | glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 733 | //extra gradient data required for visualization
|
||
| 734 | int gradient_only_levels[2] = {param._level_min +1, param._level_max}; |
||
| 735 | int n_gradient_only_level = GlobalUtil::_UseSiftGPUEX ? 2 : 1; |
||
| 736 | for ( i = _octave_min; i < _octave_min + _octave_num; i++)
|
||
| 737 | {
|
||
| 738 | for( j =0; j < n_gradient_only_level ; j++) |
||
| 739 | {
|
||
| 740 | tex = GetLevelTexture(i, gradient_only_levels[j]); |
||
| 741 | tex->FitTexViewPort(); |
||
| 742 | tex->AttachToFBO(0);
|
||
| 743 | tex->BindTex(); |
||
| 744 | ShaderMan::UseShaderGradientPass(); |
||
| 745 | tex->DrawQuadMT4(); |
||
| 746 | } |
||
| 747 | } |
||
| 748 | |||
| 749 | if(GlobalUtil::_timingS && GlobalUtil::_verbose)
|
||
| 750 | {
|
||
| 751 | glFinish(); |
||
| 752 | t1 = CLOCK(); |
||
| 753 | } |
||
| 754 | |||
| 755 | GLenum buffers[] = { GL_COLOR_ATTACHMENT0_EXT, GL_COLOR_ATTACHMENT1_EXT };
|
||
| 756 | glDrawBuffers(2, buffers);
|
||
| 757 | for ( i = _octave_min; i < _octave_min + _octave_num; i++)
|
||
| 758 | {
|
||
| 759 | if(GlobalUtil::_timingO)
|
||
| 760 | {
|
||
| 761 | t0 = CLOCK(); |
||
| 762 | std::cout<<"#"<<(i + _down_sample_factor)<<"\t"; |
||
| 763 | } |
||
| 764 | tex = GetBaseLevel(i) + 2;
|
||
| 765 | aux = GetBaseLevel(i, DATA_KEYPOINT) +2;
|
||
| 766 | aux->FitTexViewPort(); |
||
| 767 | |||
| 768 | for( j = param._level_min + 2; j < param._level_max ; j++, aux++, tex++) |
||
| 769 | {
|
||
| 770 | if(GlobalUtil::_timingL)t = CLOCK();
|
||
| 771 | tex->AttachToFBO(0);
|
||
| 772 | aux->AttachToFBO(1);
|
||
| 773 | glActiveTexture(GL_TEXTURE0); |
||
| 774 | tex->BindTex(); |
||
| 775 | glActiveTexture(GL_TEXTURE1); |
||
| 776 | (tex+1)->BindTex();
|
||
| 777 | glActiveTexture(GL_TEXTURE2); |
||
| 778 | (tex-1)->BindTex();
|
||
| 779 | ShaderMan::UseShaderKeypoint((tex+1)->GetTexID(), (tex-1)->GetTexID()); |
||
| 780 | aux->DrawQuadMT8(); |
||
| 781 | |||
| 782 | if(GlobalUtil::_timingL)
|
||
| 783 | {
|
||
| 784 | glFinish(); |
||
| 785 | std::cout<<(CLOCK()-t)<<"\t";
|
||
| 786 | } |
||
| 787 | tex->DetachFBO(0);
|
||
| 788 | aux->DetachFBO(1);
|
||
| 789 | } |
||
| 790 | if(GlobalUtil::_timingO)
|
||
| 791 | {
|
||
| 792 | std::cout<<"|\t"<<(CLOCK()-t0)<<"\n"; |
||
| 793 | } |
||
| 794 | } |
||
| 795 | |||
| 796 | if(GlobalUtil::_timingS)
|
||
| 797 | {
|
||
| 798 | glFinish(); |
||
| 799 | t2 = CLOCK(); |
||
| 800 | if(GlobalUtil::_verbose)
|
||
| 801 | std::cout <<"<Get Keypoints .. >\t"<<(t2-t1)<<"\n" |
||
| 802 | <<"<Extra Gradient.. >\t"<<(t1-ts)<<"\n"; |
||
| 803 | } |
||
| 804 | UnloadProgram(); |
||
| 805 | GLTexImage::UnbindMultiTex(3);
|
||
| 806 | fbo.UnattachTex(GL_COLOR_ATTACHMENT1_EXT); |
||
| 807 | |||
| 808 | |||
| 809 | } |
||
| 810 | |||
| 811 | void PyramidNaive::GenerateFeatureList(int i, int j) |
||
| 812 | {
|
||
| 813 | int hist_level_num = _hpLevelNum - _pyramid_octave_first;
|
||
| 814 | int hist_skip_gpu = GlobalUtil::_ListGenSkipGPU;
|
||
| 815 | int idx = i * param._dog_level_num + j;
|
||
| 816 | GLTexImage* htex, *ftex, *tex; |
||
| 817 | tex = GetBaseLevel(_octave_min + i, DATA_KEYPOINT) + 2 + j;
|
||
| 818 | ftex = _featureTex + idx; |
||
| 819 | htex = _histoPyramidTex + hist_level_num - 1 - i;
|
||
| 820 | |||
| 821 | ///
|
||
| 822 | glActiveTexture(GL_TEXTURE0); |
||
| 823 | tex->BindTex(); |
||
| 824 | htex->AttachToFBO(0);
|
||
| 825 | int tight = ((htex->GetImgWidth() * 2 == tex->GetImgWidth() -1 || tex->GetTexWidth() == tex->GetImgWidth()) && |
||
| 826 | (htex->GetImgHeight() *2 == tex->GetImgHeight()-1 || tex->GetTexHeight() == tex->GetImgHeight())); |
||
| 827 | ShaderMan::UseShaderGenListInit(tex->GetImgWidth(), tex->GetImgHeight(), tight); |
||
| 828 | htex->FitTexViewPort(); |
||
| 829 | //this uses the fact that no feature is on the edge.
|
||
| 830 | htex->DrawQuadReduction(); |
||
| 831 | |||
| 832 | //reduction..
|
||
| 833 | htex--; |
||
| 834 | |||
| 835 | //this part might have problems on several GPUS
|
||
| 836 | //because the output of one pass is the input of the next pass
|
||
| 837 | //need to call glFinish to make it right
|
||
| 838 | //but too much glFinish makes it slow
|
||
| 839 | for(int k = 0; k <hist_level_num - i - 1 - hist_skip_gpu; k++, htex--) |
||
| 840 | {
|
||
| 841 | htex->AttachToFBO(0);
|
||
| 842 | htex->FitTexViewPort(); |
||
| 843 | (htex+1)->BindTex();
|
||
| 844 | ShaderMan::UseShaderGenListHisto(); |
||
| 845 | htex->DrawQuadReduction(); |
||
| 846 | } |
||
| 847 | |||
| 848 | //
|
||
| 849 | if(hist_skip_gpu == 0) |
||
| 850 | {
|
||
| 851 | //read back one pixel
|
||
| 852 | float fn[4], fcount; |
||
| 853 | glReadPixels(0, 0, 1, 1, GL_RGBA , GL_FLOAT, fn); |
||
| 854 | fcount = (fn[0] + fn[1] + fn[2] + fn[3]); |
||
| 855 | if(fcount < 1) fcount = 0; |
||
| 856 | |||
| 857 | |||
| 858 | _levelFeatureNum[ idx] = (int)(fcount);
|
||
| 859 | SetLevelFeatureNum(idx, (int)fcount);
|
||
| 860 | _featureNum += int(fcount);
|
||
| 861 | |||
| 862 | //
|
||
| 863 | if(fcount < 1.0) return; |
||
| 864 | |||
| 865 | |||
| 866 | ///generate the feature texture
|
||
| 867 | |||
| 868 | htex= _histoPyramidTex; |
||
| 869 | |||
| 870 | htex->BindTex(); |
||
| 871 | |||
| 872 | //first pass
|
||
| 873 | ftex->AttachToFBO(0);
|
||
| 874 | if(GlobalUtil::_MaxOrientation>1) |
||
| 875 | {
|
||
| 876 | //this is very important...
|
||
| 877 | ftex->FitRealTexViewPort(); |
||
| 878 | glClear(GL_COLOR_BUFFER_BIT); |
||
| 879 | glFinish(); |
||
| 880 | }else
|
||
| 881 | {
|
||
| 882 | ftex->FitTexViewPort(); |
||
| 883 | //glFinish();
|
||
| 884 | } |
||
| 885 | |||
| 886 | |||
| 887 | ShaderMan::UseShaderGenListStart((float)ftex->GetImgWidth(), htex->GetTexID());
|
||
| 888 | |||
| 889 | ftex->DrawQuad(); |
||
| 890 | //make sure it finishes before the next step
|
||
| 891 | ftex->DetachFBO(0);
|
||
| 892 | |||
| 893 | //pass on each pyramid level
|
||
| 894 | htex++; |
||
| 895 | }else
|
||
| 896 | {
|
||
| 897 | |||
| 898 | int tw = htex[1].GetDrawWidth(), th = htex[1].GetDrawHeight(); |
||
| 899 | int fc = 0; |
||
| 900 | glReadPixels(0, 0, tw, th, GL_RGBA , GL_FLOAT, _histo_buffer); |
||
| 901 | _keypoint_buffer.resize(0);
|
||
| 902 | for(int y = 0, pos = 0; y < th; y++) |
||
| 903 | {
|
||
| 904 | for(int x= 0; x < tw; x++) |
||
| 905 | {
|
||
| 906 | for(int c = 0; c < 4; c++, pos++) |
||
| 907 | {
|
||
| 908 | int ss = (int) _histo_buffer[pos]; |
||
| 909 | if(ss == 0) continue; |
||
| 910 | float ft[4] = {2 * x + (c%2? 1.5f: 0.5f), 2 * y + (c>=2? 1.5f: 0.5f), 0, 1 }; |
||
| 911 | for(int t = 0; t < ss; t++) |
||
| 912 | {
|
||
| 913 | ft[2] = (float) t; |
||
| 914 | _keypoint_buffer.insert(_keypoint_buffer.end(), ft, ft+4);
|
||
| 915 | } |
||
| 916 | fc += (int)ss;
|
||
| 917 | } |
||
| 918 | } |
||
| 919 | } |
||
| 920 | _levelFeatureNum[ idx] = fc; |
||
| 921 | SetLevelFeatureNum(idx, fc); |
||
| 922 | if(fc == 0) return; |
||
| 923 | _featureNum += fc; |
||
| 924 | /////////////////////
|
||
| 925 | ftex->AttachToFBO(0);
|
||
| 926 | if(GlobalUtil::_MaxOrientation>1) |
||
| 927 | {
|
||
| 928 | ftex->FitRealTexViewPort(); |
||
| 929 | glClear(GL_COLOR_BUFFER_BIT); |
||
| 930 | }else
|
||
| 931 | {
|
||
| 932 | ftex->FitTexViewPort(); |
||
| 933 | } |
||
| 934 | _keypoint_buffer.resize(ftex->GetDrawWidth() * ftex->GetDrawHeight()*4, 0); |
||
| 935 | ///////////
|
||
| 936 | glActiveTexture(GL_TEXTURE0); |
||
| 937 | ftex->BindTex(); |
||
| 938 | glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, ftex->GetDrawWidth(), |
||
| 939 | ftex->GetDrawHeight(), GL_RGBA, GL_FLOAT, &_keypoint_buffer[0]);
|
||
| 940 | htex += 2;
|
||
| 941 | } |
||
| 942 | |||
| 943 | for(int lev = 1 + hist_skip_gpu; lev < hist_level_num - i; lev++, htex++) |
||
| 944 | {
|
||
| 945 | |||
| 946 | glActiveTexture(GL_TEXTURE0); |
||
| 947 | ftex->BindTex(); |
||
| 948 | ftex->AttachToFBO(0);
|
||
| 949 | glActiveTexture(GL_TEXTURE1); |
||
| 950 | htex->BindTex(); |
||
| 951 | ShaderMan::UseShaderGenListStep(ftex->GetTexID(), htex->GetTexID()); |
||
| 952 | ftex->DrawQuad(); |
||
| 953 | ftex->DetachFBO(0);
|
||
| 954 | } |
||
| 955 | GLTexImage::UnbindMultiTex(2);
|
||
| 956 | |||
| 957 | } |
||
| 958 | |||
| 959 | //generate feature list on GPU
|
||
| 960 | void PyramidNaive::GenerateFeatureList()
|
||
| 961 | {
|
||
| 962 | //generate the histogram0pyramid
|
||
| 963 | FrameBufferObject fbo; |
||
| 964 | glReadBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 965 | glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 966 | double t1, t2;
|
||
| 967 | int ocount, reverse = (GlobalUtil::_TruncateMethod == 1); |
||
| 968 | _featureNum = 0;
|
||
| 969 | |||
| 970 | FitHistogramPyramid(); |
||
| 971 | |||
| 972 | //for(int i = 0, idx = 0; i < _octave_num; i++)
|
||
| 973 | FOR_EACH_OCTAVE(i, reverse) |
||
| 974 | {
|
||
| 975 | //output
|
||
| 976 | if(GlobalUtil::_timingO)
|
||
| 977 | {
|
||
| 978 | t1= CLOCK(); |
||
| 979 | ocount = 0;
|
||
| 980 | std::cout<<"#"<<i+_octave_min + _down_sample_factor<<":\t"; |
||
| 981 | } |
||
| 982 | //for(int j = 0; j < param._dog_level_num; j++, idx++)
|
||
| 983 | FOR_EACH_LEVEL(j, reverse) |
||
| 984 | {
|
||
| 985 | if(GlobalUtil::_TruncateMethod && GlobalUtil::_FeatureCountThreshold > 0 && _featureNum > GlobalUtil::_FeatureCountThreshold) continue; |
||
| 986 | |||
| 987 | GenerateFeatureList(i, j); |
||
| 988 | if(GlobalUtil::_timingO)
|
||
| 989 | {
|
||
| 990 | int idx = i * param._dog_level_num + j;
|
||
| 991 | std::cout<< _levelFeatureNum[idx] <<"\t";
|
||
| 992 | ocount += _levelFeatureNum[idx]; |
||
| 993 | } |
||
| 994 | } |
||
| 995 | if(GlobalUtil::_timingO)
|
||
| 996 | {
|
||
| 997 | t2 = CLOCK(); |
||
| 998 | std::cout << "| \t" << int(ocount) << " :\t(" << (t2 - t1) << ")\n"; |
||
| 999 | } |
||
| 1000 | } |
||
| 1001 | if(GlobalUtil::_timingS)glFinish();
|
||
| 1002 | if(GlobalUtil::_verbose)
|
||
| 1003 | {
|
||
| 1004 | std::cout<<"#Features:\t"<<_featureNum<<"\n"; |
||
| 1005 | } |
||
| 1006 | } |
||
| 1007 | |||
| 1008 | |||
| 1009 | void PyramidGL::GenerateFeatureDisplayVBO()
|
||
| 1010 | {
|
||
| 1011 | //use a big VBO to save all the SIFT box vertices
|
||
| 1012 | int w, h, esize; GLint bsize;
|
||
| 1013 | int nvbo = _octave_num * param._dog_level_num;
|
||
| 1014 | //initialize the vbos
|
||
| 1015 | if(_featureDisplayVBO==NULL) |
||
| 1016 | {
|
||
| 1017 | _featureDisplayVBO = new GLuint[nvbo];
|
||
| 1018 | glGenBuffers( nvbo, _featureDisplayVBO ); |
||
| 1019 | } |
||
| 1020 | if(_featurePointVBO == NULL) |
||
| 1021 | {
|
||
| 1022 | _featurePointVBO = new GLuint[nvbo];
|
||
| 1023 | glGenBuffers(nvbo, _featurePointVBO); |
||
| 1024 | } |
||
| 1025 | |||
| 1026 | FrameBufferObject fbo; |
||
| 1027 | glReadBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 1028 | glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 1029 | glActiveTexture(GL_TEXTURE0); |
||
| 1030 | |||
| 1031 | //
|
||
| 1032 | GLTexImage & tempTex = *_descriptorTex; |
||
| 1033 | //
|
||
| 1034 | for(int i = 0, idx = 0; i < _octave_num; i++) |
||
| 1035 | {
|
||
| 1036 | for(int j = 0; j < param._dog_level_num; j ++, idx++) |
||
| 1037 | {
|
||
| 1038 | GLTexImage * ftex = _featureTex + idx; |
||
| 1039 | |||
| 1040 | if(_levelFeatureNum[idx]<=0)continue; |
||
| 1041 | //box display vbo
|
||
| 1042 | int count = _levelFeatureNum[idx]* 10; |
||
| 1043 | GetAlignedStorageSize(count, _alignment, w, h); |
||
| 1044 | w = (int)ceil(double(count)/ h); |
||
| 1045 | |||
| 1046 | //input
|
||
| 1047 | fbo.BindFBO(); |
||
| 1048 | ftex->BindTex(); |
||
| 1049 | |||
| 1050 | //output
|
||
| 1051 | tempTex.AttachToFBO(0);
|
||
| 1052 | GlobalUtil::FitViewPort(w, h); |
||
| 1053 | //shader
|
||
| 1054 | ShaderMan::UseShaderGenVBO( (float)ftex->GetImgWidth(), (float) w, |
||
| 1055 | param.GetLevelSigma(j + param._level_min + 1));
|
||
| 1056 | GLTexImage::DrawQuad(0, (float)w, 0, (float)h); |
||
| 1057 | |||
| 1058 | //
|
||
| 1059 | glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, _featureDisplayVBO[ idx]); |
||
| 1060 | glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize); |
||
| 1061 | esize = w*h * sizeof(float)*4; |
||
| 1062 | //increase size when necessary
|
||
| 1063 | if(bsize < esize) glBufferData(GL_PIXEL_PACK_BUFFER_ARB, esize*3/2, NULL, GL_STATIC_DRAW_ARB); |
||
| 1064 | |||
| 1065 | //read back if we have enough buffer
|
||
| 1066 | glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize); |
||
| 1067 | if(bsize >= esize) glReadPixels(0, 0, w, h, GL_RGBA, GL_FLOAT, 0); |
||
| 1068 | else glBufferData(GL_PIXEL_PACK_BUFFER_ARB, 0, NULL, GL_STATIC_DRAW_ARB); |
||
| 1069 | glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, 0);
|
||
| 1070 | |||
| 1071 | |||
| 1072 | //copy the texture into vbo
|
||
| 1073 | fbo.BindFBO(); |
||
| 1074 | tempTex.AttachToFBO(0);
|
||
| 1075 | |||
| 1076 | ftex->BindTex(); |
||
| 1077 | ftex->FitTexViewPort(); |
||
| 1078 | ShaderMan::UseShaderCopyKeypoint(); |
||
| 1079 | ftex->DrawQuad(); |
||
| 1080 | |||
| 1081 | glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, _featurePointVBO[ idx]); |
||
| 1082 | glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize); |
||
| 1083 | esize = ftex->GetImgHeight() * ftex->GetImgWidth()*sizeof(float) *4; |
||
| 1084 | |||
| 1085 | //increase size when necessary
|
||
| 1086 | if(bsize < esize) glBufferData(GL_PIXEL_PACK_BUFFER_ARB, esize*3/2 , NULL, GL_STATIC_DRAW_ARB); |
||
| 1087 | |||
| 1088 | //read back if we have enough buffer
|
||
| 1089 | glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize); |
||
| 1090 | if(bsize >= esize) glReadPixels(0, 0, ftex->GetImgWidth(), ftex->GetImgHeight(), GL_RGBA, GL_FLOAT, 0); |
||
| 1091 | else glBufferData(GL_PIXEL_PACK_BUFFER_ARB, 0, NULL, GL_STATIC_DRAW_ARB); |
||
| 1092 | |||
| 1093 | glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, 0);
|
||
| 1094 | |||
| 1095 | } |
||
| 1096 | } |
||
| 1097 | glReadBuffer(GL_NONE); |
||
| 1098 | glFinish(); |
||
| 1099 | |||
| 1100 | } |
||
| 1101 | |||
| 1102 | |||
| 1103 | |||
| 1104 | |||
| 1105 | |||
| 1106 | void PyramidNaive::GetFeatureOrientations()
|
||
| 1107 | {
|
||
| 1108 | GLTexImage * gtex; |
||
| 1109 | GLTexImage * stex = NULL;
|
||
| 1110 | GLTexImage * ftex = _featureTex; |
||
| 1111 | GLTexImage * otex = _orientationTex; |
||
| 1112 | int sid = 0; |
||
| 1113 | int * count = _levelFeatureNum;
|
||
| 1114 | float sigma, sigma_step = powf(2.0f, 1.0f/param._dog_level_num); |
||
| 1115 | FrameBufferObject fbo; |
||
| 1116 | if(_orientationTex)
|
||
| 1117 | {
|
||
| 1118 | GLenum buffers[] = { GL_COLOR_ATTACHMENT0_EXT, GL_COLOR_ATTACHMENT1_EXT };
|
||
| 1119 | glDrawBuffers(2, buffers);
|
||
| 1120 | }else
|
||
| 1121 | {
|
||
| 1122 | glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 1123 | } |
||
| 1124 | for(int i = 0; i < _octave_num; i++) |
||
| 1125 | {
|
||
| 1126 | gtex = GetLevelTexture(i+_octave_min, param._level_min + 1);
|
||
| 1127 | if(GlobalUtil::_SubpixelLocalization || GlobalUtil::_KeepExtremumSign)
|
||
| 1128 | stex = GetBaseLevel(i+_octave_min, DATA_KEYPOINT) + 2;
|
||
| 1129 | |||
| 1130 | for(int j = 0; j < param._dog_level_num; j++, ftex++, otex++, count++, gtex++, stex++) |
||
| 1131 | {
|
||
| 1132 | if(*count<=0)continue; |
||
| 1133 | |||
| 1134 | sigma = param.GetLevelSigma(j+param._level_min+1);
|
||
| 1135 | |||
| 1136 | //
|
||
| 1137 | ftex->FitTexViewPort(); |
||
| 1138 | |||
| 1139 | glActiveTexture(GL_TEXTURE0); |
||
| 1140 | ftex->BindTex(); |
||
| 1141 | glActiveTexture(GL_TEXTURE1); |
||
| 1142 | gtex->BindTex(); |
||
| 1143 | //
|
||
| 1144 | ftex->AttachToFBO(0);
|
||
| 1145 | if(_orientationTex) otex->AttachToFBO(1); |
||
| 1146 | if(!_existing_keypoints && (GlobalUtil::_SubpixelLocalization|| GlobalUtil::_KeepExtremumSign))
|
||
| 1147 | {
|
||
| 1148 | glActiveTexture(GL_TEXTURE2); |
||
| 1149 | stex->BindTex(); |
||
| 1150 | sid = * stex; |
||
| 1151 | } |
||
| 1152 | ShaderMan::UseShaderOrientation(gtex->GetTexID(), |
||
| 1153 | gtex->GetImgWidth(), gtex->GetImgHeight(), |
||
| 1154 | sigma, sid, sigma_step, _existing_keypoints); |
||
| 1155 | ftex->DrawQuad(); |
||
| 1156 | // glFinish();
|
||
| 1157 | |||
| 1158 | } |
||
| 1159 | } |
||
| 1160 | |||
| 1161 | GLTexImage::UnbindMultiTex(3);
|
||
| 1162 | if(GlobalUtil::_timingS)glFinish();
|
||
| 1163 | |||
| 1164 | if(_orientationTex) fbo.UnattachTex(GL_COLOR_ATTACHMENT1_EXT);
|
||
| 1165 | |||
| 1166 | } |
||
| 1167 | |||
| 1168 | |||
| 1169 | |||
| 1170 | //to compare with GPU feature list generation
|
||
| 1171 | void PyramidNaive::GenerateFeatureListCPU()
|
||
| 1172 | {
|
||
| 1173 | |||
| 1174 | FrameBufferObject fbo; |
||
| 1175 | _featureNum = 0;
|
||
| 1176 | GLTexImage * tex = GetBaseLevel(_octave_min); |
||
| 1177 | float * mem = new float [tex->GetTexWidth()*tex->GetTexHeight()]; |
||
| 1178 | vector<float> list;
|
||
| 1179 | int idx = 0; |
||
| 1180 | for(int i = 0; i < _octave_num; i++) |
||
| 1181 | {
|
||
| 1182 | for(int j = 0; j < param._dog_level_num; j++, idx++) |
||
| 1183 | {
|
||
| 1184 | tex = GetBaseLevel(_octave_min + i, DATA_KEYPOINT) + j + 2;
|
||
| 1185 | tex->BindTex(); |
||
| 1186 | glGetTexImage(GlobalUtil::_texTarget, 0, GL_RED, GL_FLOAT, mem);
|
||
| 1187 | //tex->AttachToFBO(0);
|
||
| 1188 | //tex->FitTexViewPort();
|
||
| 1189 | //glReadPixels(0, 0, tex->GetTexWidth(), tex->GetTexHeight(), GL_RED, GL_FLOAT, mem);
|
||
| 1190 | //
|
||
| 1191 | //make a list of
|
||
| 1192 | list.resize(0);
|
||
| 1193 | float * p = mem;
|
||
| 1194 | int fcount = 0 ; |
||
| 1195 | for(int k = 0; k < tex->GetTexHeight(); k++) |
||
| 1196 | {
|
||
| 1197 | for( int m = 0; m < tex->GetTexWidth(); m ++, p++) |
||
| 1198 | {
|
||
| 1199 | if(*p==0)continue; |
||
| 1200 | if(m ==0 || k ==0 || k >= tex->GetImgHeight() -1 || m >= tex->GetImgWidth() -1 ) continue; |
||
| 1201 | list.push_back(m+0.5f); |
||
| 1202 | list.push_back(k+0.5f); |
||
| 1203 | list.push_back(0);
|
||
| 1204 | list.push_back(1);
|
||
| 1205 | fcount ++; |
||
| 1206 | |||
| 1207 | |||
| 1208 | } |
||
| 1209 | } |
||
| 1210 | if(fcount==0)continue; |
||
| 1211 | |||
| 1212 | |||
| 1213 | |||
| 1214 | GLTexImage * ftex = _featureTex+idx; |
||
| 1215 | _levelFeatureNum[idx] = (fcount); |
||
| 1216 | SetLevelFeatureNum(idx, fcount); |
||
| 1217 | |||
| 1218 | _featureNum += (fcount); |
||
| 1219 | |||
| 1220 | |||
| 1221 | int fw = ftex->GetImgWidth();
|
||
| 1222 | int fh = ftex->GetImgHeight();
|
||
| 1223 | |||
| 1224 | list.resize(4*fh*fw);
|
||
| 1225 | |||
| 1226 | ftex->BindTex(); |
||
| 1227 | ftex->AttachToFBO(0);
|
||
| 1228 | // glTexImage2D(GlobalUtil::_texTarget, 0, GlobalUtil::_iTexFormat, fw, fh, 0, GL_BGRA, GL_FLOAT, &list[0]);
|
||
| 1229 | glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, fw, fh, GL_RGBA, GL_FLOAT, &list[0]); |
||
| 1230 | //
|
||
| 1231 | } |
||
| 1232 | } |
||
| 1233 | GLTexImage::UnbindTex(); |
||
| 1234 | delete mem;
|
||
| 1235 | if(GlobalUtil::_verbose)
|
||
| 1236 | {
|
||
| 1237 | std::cout<<"#Features:\t"<<_featureNum<<"\n"; |
||
| 1238 | } |
||
| 1239 | } |
||
| 1240 | |||
| 1241 | #define FEATURELIST_USE_PBO
|
||
| 1242 | |||
| 1243 | void PyramidGL::ReshapeFeatureListCPU()
|
||
| 1244 | {
|
||
| 1245 | //make a compact feature list, each with only one orientation
|
||
| 1246 | //download orientations and the featue list
|
||
| 1247 | //reshape it and upload it
|
||
| 1248 | |||
| 1249 | FrameBufferObject fbo; |
||
| 1250 | int i, szmax =0, sz; |
||
| 1251 | int n = param._dog_level_num*_octave_num;
|
||
| 1252 | for( i = 0; i < n; i++) |
||
| 1253 | {
|
||
| 1254 | sz = _featureTex[i].GetImgWidth() * _featureTex[i].GetImgHeight(); |
||
| 1255 | if(sz > szmax ) szmax = sz;
|
||
| 1256 | } |
||
| 1257 | float * buffer = new float[szmax*24]; |
||
| 1258 | float * buffer1 = buffer;
|
||
| 1259 | float * buffer2 = buffer + szmax*4; |
||
| 1260 | float * buffer3 = buffer + szmax*8; |
||
| 1261 | |||
| 1262 | glReadBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 1263 | glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 1264 | |||
| 1265 | #ifdef FEATURELIST_USE_PBO
|
||
| 1266 | GLuint ListUploadPBO; |
||
| 1267 | glGenBuffers(1, &ListUploadPBO);
|
||
| 1268 | glBindBuffer(GL_PIXEL_UNPACK_BUFFER_ARB, ListUploadPBO); |
||
| 1269 | glBufferData(GL_PIXEL_UNPACK_BUFFER_ARB, szmax * 8 * sizeof(float), NULL, GL_STREAM_DRAW); |
||
| 1270 | #endif
|
||
| 1271 | |||
| 1272 | _featureNum = 0;
|
||
| 1273 | |||
| 1274 | #ifdef NO_DUPLICATE_DOWNLOAD
|
||
| 1275 | const double twopi = 2.0*3.14159265358979323846; |
||
| 1276 | _keypoint_buffer.resize(0);
|
||
| 1277 | float os = _octave_min>=0? float(1<<_octave_min): 1.0f/(1<<(-_octave_min)); |
||
| 1278 | if(_down_sample_factor>0) os *= float(1<<_down_sample_factor); |
||
| 1279 | float offset = GlobalUtil::_LoweOrigin? 0 : 0.5f; |
||
| 1280 | #endif
|
||
| 1281 | |||
| 1282 | for(i = 0; i < n; i++) |
||
| 1283 | {
|
||
| 1284 | if(_levelFeatureNum[i]==0)continue; |
||
| 1285 | |||
| 1286 | _featureTex[i].AttachToFBO(0);
|
||
| 1287 | _featureTex[i].FitTexViewPort(); |
||
| 1288 | glReadPixels(0, 0, _featureTex[i].GetImgWidth(), _featureTex[i].GetImgHeight(),GL_RGBA, GL_FLOAT, buffer1); |
||
| 1289 | |||
| 1290 | int fcount =0, ocount; |
||
| 1291 | float * src = buffer1;
|
||
| 1292 | float * orientation = buffer2;
|
||
| 1293 | float * des = buffer3;
|
||
| 1294 | if(GlobalUtil::_OrientationPack2 == 0) |
||
| 1295 | {
|
||
| 1296 | //read back orientations from another texture
|
||
| 1297 | _orientationTex[i].AttachToFBO(0);
|
||
| 1298 | glReadPixels(0, 0, _orientationTex[i].GetImgWidth(), _orientationTex[i].GetImgHeight(),GL_RGBA, GL_FLOAT, buffer2); |
||
| 1299 | //make the feature list
|
||
| 1300 | for(int j = 0; j < _levelFeatureNum[i]; j++, src+=4, orientation+=4) |
||
| 1301 | {
|
||
| 1302 | if(_existing_keypoints)
|
||
| 1303 | {
|
||
| 1304 | des[0] = src[0]; |
||
| 1305 | des[1] = src[1]; |
||
| 1306 | des[2] = orientation[0]; |
||
| 1307 | des[3] = src[3]; |
||
| 1308 | fcount++; |
||
| 1309 | des += 4;
|
||
| 1310 | }else
|
||
| 1311 | {
|
||
| 1312 | ocount = (int)src[2]; |
||
| 1313 | for(int k = 0 ; k < ocount; k++, des+=4) |
||
| 1314 | {
|
||
| 1315 | des[0] = src[0]; |
||
| 1316 | des[1] = src[1]; |
||
| 1317 | des[2] = orientation[k];
|
||
| 1318 | des[3] = src[3]; |
||
| 1319 | fcount++; |
||
| 1320 | } |
||
| 1321 | } |
||
| 1322 | } |
||
| 1323 | }else
|
||
| 1324 | {
|
||
| 1325 | _featureTex[i].DetachFBO(0);
|
||
| 1326 | const static double factor = 2.0*3.14159265358979323846/65535.0; |
||
| 1327 | for(int j = 0; j < _levelFeatureNum[i]; j++, src+=4) |
||
| 1328 | {
|
||
| 1329 | unsigned short * orientations = (unsigned short*) (&src[2]); |
||
| 1330 | if(_existing_keypoints)
|
||
| 1331 | {
|
||
| 1332 | des[0] = src[0]; |
||
| 1333 | des[1] = src[1]; |
||
| 1334 | des[2] = float( factor* orientations[0]); |
||
| 1335 | des[3] = src[3]; |
||
| 1336 | fcount++; |
||
| 1337 | des += 4;
|
||
| 1338 | }else
|
||
| 1339 | {
|
||
| 1340 | if(orientations[0] != 65535) |
||
| 1341 | {
|
||
| 1342 | des[0] = src[0]; |
||
| 1343 | des[1] = src[1]; |
||
| 1344 | des[2] = float( factor* orientations[0]); |
||
| 1345 | des[3] = src[3]; |
||
| 1346 | fcount++; |
||
| 1347 | des += 4;
|
||
| 1348 | |||
| 1349 | if(orientations[1] != 65535) |
||
| 1350 | {
|
||
| 1351 | des[0] = src[0]; |
||
| 1352 | des[1] = src[1]; |
||
| 1353 | des[2] = float(factor* orientations[1]); |
||
| 1354 | des[3] = src[3]; |
||
| 1355 | fcount++; |
||
| 1356 | des += 4;
|
||
| 1357 | } |
||
| 1358 | } |
||
| 1359 | } |
||
| 1360 | } |
||
| 1361 | } |
||
| 1362 | |||
| 1363 | //texture size --------------
|
||
| 1364 | SetLevelFeatureNum(i, fcount); |
||
| 1365 | int nfw = _featureTex[i].GetImgWidth();
|
||
| 1366 | int nfh = _featureTex[i].GetImgHeight();
|
||
| 1367 | int sz = nfh * nfw;
|
||
| 1368 | if(sz > fcount) memset(des, 0, sizeof(float) * (sz - fcount) * 4); |
||
| 1369 | |||
| 1370 | #ifndef FEATURELIST_USE_PBO
|
||
| 1371 | _featureTex[i].BindTex(); |
||
| 1372 | glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, nfw, nfh, GL_RGBA, GL_FLOAT, buffer3); |
||
| 1373 | _featureTex[i].UnbindTex(); |
||
| 1374 | #else
|
||
| 1375 | float* mem = (float*) glMapBuffer(GL_PIXEL_UNPACK_BUFFER_ARB, GL_WRITE_ONLY); |
||
| 1376 | memcpy(mem, buffer3, sz * 4 * sizeof(float) ); |
||
| 1377 | glUnmapBuffer(GL_PIXEL_UNPACK_BUFFER_ARB); |
||
| 1378 | _featureTex[i].BindTex(); |
||
| 1379 | glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, nfw, nfh, GL_RGBA, GL_FLOAT, 0); |
||
| 1380 | _featureTex[i].UnbindTex(); |
||
| 1381 | #endif
|
||
| 1382 | |||
| 1383 | #ifdef NO_DUPLICATE_DOWNLOAD
|
||
| 1384 | if(fcount > 0) |
||
| 1385 | {
|
||
| 1386 | float oss = os * (1 << (i / param._dog_level_num)); |
||
| 1387 | _keypoint_buffer.resize((_featureNum + fcount) * 4);
|
||
| 1388 | float* ds = &_keypoint_buffer[_featureNum * 4]; |
||
| 1389 | float* fs = buffer3;
|
||
| 1390 | for(int k = 0; k < fcount; k++, ds+=4, fs+=4) |
||
| 1391 | {
|
||
| 1392 | ds[0] = oss*(fs[0]-0.5f) + offset; //x |
||
| 1393 | ds[1] = oss*(fs[1]-0.5f) + offset; //y |
||
| 1394 | ds[3] = (float)fmod(twopi-fs[2], twopi); //orientation, mirrored |
||
| 1395 | ds[2] = oss*fs[3]; //scale |
||
| 1396 | } |
||
| 1397 | } |
||
| 1398 | #endif
|
||
| 1399 | _levelFeatureNum[i] = fcount; |
||
| 1400 | _featureNum += fcount; |
||
| 1401 | } |
||
| 1402 | |||
| 1403 | delete[] buffer;
|
||
| 1404 | if(GlobalUtil::_verbose)
|
||
| 1405 | {
|
||
| 1406 | std::cout<<"#Features MO:\t"<<_featureNum<<endl;
|
||
| 1407 | } |
||
| 1408 | ///////////////////////////////////
|
||
| 1409 | #ifdef FEATURELIST_USE_PBO
|
||
| 1410 | glBindBuffer(GL_PIXEL_UNPACK_BUFFER_ARB, 0);
|
||
| 1411 | glDeleteBuffers(1, &ListUploadPBO);
|
||
| 1412 | #endif
|
||
| 1413 | } |
||
| 1414 | |||
| 1415 | |||
| 1416 | |||
| 1417 | inline void PyramidGL::SetLevelFeatureNum(int idx, int fcount) |
||
| 1418 | {
|
||
| 1419 | int fw, fh;
|
||
| 1420 | GLTexImage * ftex = _featureTex + idx; |
||
| 1421 | //set feature texture size. normally fh will be one
|
||
| 1422 | GetTextureStorageSize(fcount, fw, fh); |
||
| 1423 | if(fcount > ftex->GetTexWidth()*ftex->GetTexHeight())
|
||
| 1424 | {
|
||
| 1425 | if(GlobalUtil::_timingS && GlobalUtil::_verbose)
|
||
| 1426 | std::cout<<"Too many features, reallocate texture\n";
|
||
| 1427 | |||
| 1428 | ftex->InitTexture(fw, fh, 0);
|
||
| 1429 | if(_orientationTex) _orientationTex[idx].InitTexture(fw, fh, 0); |
||
| 1430 | |||
| 1431 | } |
||
| 1432 | if(GlobalUtil::_NarrowFeatureTex)
|
||
| 1433 | fh = fcount ==0? 0:(int)ceil(double(fcount)/fw); |
||
| 1434 | else
|
||
| 1435 | fw = fcount ==0? 0:(int)ceil(double(fcount)/fh); |
||
| 1436 | ftex->SetImageSize(fw, fh); |
||
| 1437 | if(_orientationTex) _orientationTex[idx].SetImageSize(fw, fh);
|
||
| 1438 | } |
||
| 1439 | |||
| 1440 | void PyramidGL::CleanUpAfterSIFT()
|
||
| 1441 | {
|
||
| 1442 | GLTexImage::UnbindMultiTex(3);
|
||
| 1443 | ShaderMan::UnloadProgram(); |
||
| 1444 | FrameBufferObject::DeleteGlobalFBO(); |
||
| 1445 | GlobalUtil::CleanupOpenGL(); |
||
| 1446 | } |
||
| 1447 | |||
| 1448 | void PyramidNaive::GetSimplifiedOrientation()
|
||
| 1449 | {
|
||
| 1450 | //
|
||
| 1451 | int idx = 0; |
||
| 1452 | // int n = _octave_num * param._dog_level_num;
|
||
| 1453 | float sigma, sigma_step = powf(2.0f, 1.0f/param._dog_level_num); |
||
| 1454 | GLTexImage * ftex = _featureTex; |
||
| 1455 | |||
| 1456 | FrameBufferObject fbo; |
||
| 1457 | glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 1458 | for(int i = 0; i < _octave_num; i++) |
||
| 1459 | {
|
||
| 1460 | GLTexImage *gtex = GetLevelTexture(i+_octave_min, 2+param._level_min);
|
||
| 1461 | for(int j = 0; j < param._dog_level_num; j++, ftex++, gtex++, idx ++) |
||
| 1462 | {
|
||
| 1463 | if(_levelFeatureNum[idx]<=0)continue; |
||
| 1464 | sigma = param.GetLevelSigma(j+param._level_min+1);
|
||
| 1465 | |||
| 1466 | //
|
||
| 1467 | ftex->AttachToFBO(0);
|
||
| 1468 | ftex->FitTexViewPort(); |
||
| 1469 | |||
| 1470 | glActiveTexture(GL_TEXTURE0); |
||
| 1471 | ftex->BindTex(); |
||
| 1472 | glActiveTexture(GL_TEXTURE1); |
||
| 1473 | gtex->BindTex(); |
||
| 1474 | |||
| 1475 | ShaderMan::UseShaderSimpleOrientation(gtex->GetTexID(), sigma, sigma_step); |
||
| 1476 | ftex->DrawQuad(); |
||
| 1477 | } |
||
| 1478 | } |
||
| 1479 | |||
| 1480 | GLTexImage::UnbindMultiTex(2);
|
||
| 1481 | |||
| 1482 | } |
||
| 1483 | |||
| 1484 | |||
| 1485 | #ifdef USE_SSE_FOR_SIFTGPU
|
||
| 1486 | static inline float dotproduct_128d(float * p) |
||
| 1487 | {
|
||
| 1488 | float z = 0.0f; |
||
| 1489 | __m128 sse =_mm_load_ss(&z); |
||
| 1490 | float* pf = (float*) (&sse); |
||
| 1491 | for( int i = 0; i < 32; i++, p+=4) |
||
| 1492 | {
|
||
| 1493 | __m128 ps = _mm_loadu_ps(p); |
||
| 1494 | sse = _mm_add_ps(sse, _mm_mul_ps(ps, ps)); |
||
| 1495 | } |
||
| 1496 | return pf[0] + pf[1] + pf[2] + pf[3]; |
||
| 1497 | |||
| 1498 | } |
||
| 1499 | static inline void multiply_and_truncate_128d(float* p, float m) |
||
| 1500 | {
|
||
| 1501 | float z = 0.2f; |
||
| 1502 | __m128 t = _mm_load_ps1(&z); |
||
| 1503 | __m128 r = _mm_load_ps1(&m); |
||
| 1504 | for(int i = 0; i < 32; i++, p+=4) |
||
| 1505 | {
|
||
| 1506 | __m128 ps = _mm_loadu_ps(p); |
||
| 1507 | _mm_storeu_ps(p, _mm_min_ps(_mm_mul_ps(ps, r), t)); |
||
| 1508 | } |
||
| 1509 | } |
||
| 1510 | static inline void multiply_128d(float* p, float m) |
||
| 1511 | {
|
||
| 1512 | __m128 r = _mm_load_ps1(&m); |
||
| 1513 | for(int i = 0; i < 32; i++, p+=4) |
||
| 1514 | {
|
||
| 1515 | __m128 ps = _mm_loadu_ps(p); |
||
| 1516 | _mm_storeu_ps(p, _mm_mul_ps(ps, r)); |
||
| 1517 | } |
||
| 1518 | } |
||
| 1519 | #endif
|
||
| 1520 | |||
| 1521 | |||
| 1522 | inline void PyramidGL::NormalizeDescriptor(int num, float*pd) |
||
| 1523 | {
|
||
| 1524 | |||
| 1525 | #ifdef USE_SSE_FOR_SIFTGPU
|
||
| 1526 | for(int k = 0; k < num; k++, pd +=128) |
||
| 1527 | {
|
||
| 1528 | float sq;
|
||
| 1529 | //normalize and truncate to .2
|
||
| 1530 | sq = dotproduct_128d(pd); sq = 1.0f / sqrtf(sq); |
||
| 1531 | multiply_and_truncate_128d(pd, sq); |
||
| 1532 | |||
| 1533 | //renormalize
|
||
| 1534 | sq = dotproduct_128d(pd); sq = 1.0f / sqrtf(sq); |
||
| 1535 | multiply_128d(pd, sq); |
||
| 1536 | } |
||
| 1537 | #else
|
||
| 1538 | //descriptor normalization runs on cpu for OpenGL implemenations
|
||
| 1539 | for(int k = 0; k < num; k++, pd +=128) |
||
| 1540 | {
|
||
| 1541 | int v;
|
||
| 1542 | float* ppd, sq = 0; |
||
| 1543 | //int v;
|
||
| 1544 | //normalize
|
||
| 1545 | ppd = pd; |
||
| 1546 | for(v = 0 ; v < 128; v++, ppd++) sq += (*ppd)*(*ppd); |
||
| 1547 | sq = 1.0f / sqrtf(sq); |
||
| 1548 | //truncate to .2
|
||
| 1549 | ppd = pd; |
||
| 1550 | for(v = 0; v < 128; v ++, ppd++) *ppd = min(*ppd*sq, 0.2f); |
||
| 1551 | |||
| 1552 | //renormalize
|
||
| 1553 | ppd = pd; sq = 0;
|
||
| 1554 | for(v = 0; v < 128; v++, ppd++) sq += (*ppd)*(*ppd); |
||
| 1555 | sq = 1.0f / sqrtf(sq); |
||
| 1556 | |||
| 1557 | ppd = pd; |
||
| 1558 | for(v = 0; v < 128; v ++, ppd++) *ppd = *ppd*sq; |
||
| 1559 | } |
||
| 1560 | |||
| 1561 | #endif
|
||
| 1562 | } |
||
| 1563 | |||
| 1564 | inline void PyramidGL::InterlaceDescriptorF2(int w, int h, float* buf, float* pd, int step) |
||
| 1565 | {
|
||
| 1566 | /*
|
||
| 1567 | if(GlobalUtil::_DescriptorPPR == 8)
|
||
| 1568 | {
|
||
| 1569 | const int dstep = w * 128;
|
||
| 1570 | float* pp1 = buf;
|
||
| 1571 | float* pp2 = buf + step;
|
||
| 1572 | |||
| 1573 | for(int u = 0; u < h ; u++, pd+=dstep)
|
||
| 1574 | {
|
||
| 1575 | int v;
|
||
| 1576 | float* ppd = pd;
|
||
| 1577 | for(v= 0; v < w; v++)
|
||
| 1578 | {
|
||
| 1579 | for(int t = 0; t < 8; t++)
|
||
| 1580 | {
|
||
| 1581 | *ppd++ = *pp1++;*ppd++ = *pp1++;*ppd++ = *pp1++;*ppd++ = *pp1++;
|
||
| 1582 | *ppd++ = *pp2++;*ppd++ = *pp2++;*ppd++ = *pp2++;*ppd++ = *pp2++;
|
||
| 1583 | }
|
||
| 1584 | ppd += 64;
|
||
| 1585 | }
|
||
| 1586 | ppd = pd + 64;
|
||
| 1587 | for(v= 0; v < w; v++)
|
||
| 1588 | {
|
||
| 1589 | for(int t = 0; t < 8; t++)
|
||
| 1590 | {
|
||
| 1591 | *ppd++ = *pp1++;*ppd++ = *pp1++;*ppd++ = *pp1++;*ppd++ = *pp1++;
|
||
| 1592 | *ppd++ = *pp2++;*ppd++ = *pp2++;*ppd++ = *pp2++;*ppd++ = *pp2++;
|
||
| 1593 | }
|
||
| 1594 | ppd += 64;
|
||
| 1595 | }
|
||
| 1596 | }
|
||
| 1597 | |||
| 1598 | }else */
|
||
| 1599 | if(GlobalUtil::_DescriptorPPR == 8) |
||
| 1600 | {
|
||
| 1601 | //interlace
|
||
| 1602 | for(int k = 0; k < 2; k++) |
||
| 1603 | {
|
||
| 1604 | float* pp = buf + k * step;
|
||
| 1605 | float* ppd = pd + k * 4; |
||
| 1606 | for(int u = 0; u < h ; u++) |
||
| 1607 | {
|
||
| 1608 | int v;
|
||
| 1609 | for(v= 0; v < w; v++) |
||
| 1610 | {
|
||
| 1611 | for(int t = 0; t < 8; t++) |
||
| 1612 | {
|
||
| 1613 | ppd[0] = pp[0]; |
||
| 1614 | ppd[1] = pp[1]; |
||
| 1615 | ppd[2] = pp[2]; |
||
| 1616 | ppd[3] = pp[3]; |
||
| 1617 | ppd += 8;
|
||
| 1618 | pp+= 4;
|
||
| 1619 | } |
||
| 1620 | ppd += 64;
|
||
| 1621 | } |
||
| 1622 | ppd += ( 64 - 128 * w ); |
||
| 1623 | for(v= 0; v < w; v++) |
||
| 1624 | {
|
||
| 1625 | for(int t = 0; t < 8; t++) |
||
| 1626 | {
|
||
| 1627 | ppd[0] = pp[0]; |
||
| 1628 | ppd[1] = pp[1]; |
||
| 1629 | ppd[2] = pp[2]; |
||
| 1630 | ppd[3] = pp[3]; |
||
| 1631 | |||
| 1632 | ppd += 8;
|
||
| 1633 | pp+= 4;
|
||
| 1634 | } |
||
| 1635 | ppd += 64;
|
||
| 1636 | } |
||
| 1637 | ppd -=64;
|
||
| 1638 | } |
||
| 1639 | } |
||
| 1640 | }else if(GlobalUtil::_DescriptorPPR == 4) |
||
| 1641 | {
|
||
| 1642 | |||
| 1643 | } |
||
| 1644 | |||
| 1645 | |||
| 1646 | |||
| 1647 | } |
||
| 1648 | void PyramidGL::GetFeatureDescriptors()
|
||
| 1649 | {
|
||
| 1650 | //descriptors...
|
||
| 1651 | float sigma;
|
||
| 1652 | int idx, i, j, k, w, h;
|
||
| 1653 | int ndf = 32 / GlobalUtil::_DescriptorPPT; //number of textures |
||
| 1654 | int block_width = GlobalUtil::_DescriptorPPR;
|
||
| 1655 | int block_height = GlobalUtil::_DescriptorPPT/GlobalUtil::_DescriptorPPR;
|
||
| 1656 | float* pd = &_descriptor_buffer[0], * pbuf = NULL; |
||
| 1657 | vector<float>read_buffer, descriptor_buffer2;
|
||
| 1658 | |||
| 1659 | //use another buffer, if we need to re-order the descriptors
|
||
| 1660 | if(_keypoint_index.size() > 0) |
||
| 1661 | {
|
||
| 1662 | descriptor_buffer2.resize(_descriptor_buffer.size()); |
||
| 1663 | pd = &descriptor_buffer2[0];
|
||
| 1664 | } |
||
| 1665 | FrameBufferObject fbo; |
||
| 1666 | |||
| 1667 | GLTexImage * gtex, *otex, * ftex; |
||
| 1668 | GLenum buffers[8] = {
|
||
| 1669 | GL_COLOR_ATTACHMENT0_EXT, GL_COLOR_ATTACHMENT1_EXT , |
||
| 1670 | GL_COLOR_ATTACHMENT2_EXT, GL_COLOR_ATTACHMENT3_EXT , |
||
| 1671 | GL_COLOR_ATTACHMENT4_EXT, GL_COLOR_ATTACHMENT5_EXT , |
||
| 1672 | GL_COLOR_ATTACHMENT6_EXT, GL_COLOR_ATTACHMENT7_EXT , |
||
| 1673 | }; |
||
| 1674 | |||
| 1675 | glDrawBuffers(ndf, buffers); |
||
| 1676 | glReadBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 1677 | |||
| 1678 | |||
| 1679 | for( i = 0, idx = 0, ftex = _featureTex; i < _octave_num; i++) |
||
| 1680 | {
|
||
| 1681 | gtex = GetBaseLevel(i + _octave_min, DATA_GRAD) + 1;
|
||
| 1682 | otex = GetBaseLevel(i + _octave_min, DATA_ROT) + 1;
|
||
| 1683 | for( j = 0; j < param._dog_level_num; j++, ftex++, idx++, gtex++, otex++) |
||
| 1684 | {
|
||
| 1685 | if(_levelFeatureNum[idx]==0)continue; |
||
| 1686 | |||
| 1687 | sigma = IsUsingRectDescription()? 0 : param.GetLevelSigma(j+param._level_min+1); |
||
| 1688 | int count = _levelFeatureNum[idx] * block_width;
|
||
| 1689 | GetAlignedStorageSize(count, block_width, w, h); |
||
| 1690 | h = ((int)ceil(double(count) / w)) * block_height; |
||
| 1691 | |||
| 1692 | //not enought space for holding the descriptor data
|
||
| 1693 | if(w > _descriptorTex[0].GetTexWidth() || h > _descriptorTex[0].GetTexHeight()) |
||
| 1694 | {
|
||
| 1695 | for(k = 0; k < ndf; k++)_descriptorTex[k].InitTexture(w, h); |
||
| 1696 | } |
||
| 1697 | for(k = 0; k < ndf; k++) _descriptorTex[k].AttachToFBO(k); |
||
| 1698 | GlobalUtil::FitViewPort(w, h); |
||
| 1699 | glActiveTexture(GL_TEXTURE0); |
||
| 1700 | ftex->BindTex(); |
||
| 1701 | glActiveTexture(GL_TEXTURE1); |
||
| 1702 | gtex->BindTex(); |
||
| 1703 | if(otex!=gtex)
|
||
| 1704 | {
|
||
| 1705 | glActiveTexture(GL_TEXTURE2); |
||
| 1706 | otex->BindTex(); |
||
| 1707 | } |
||
| 1708 | |||
| 1709 | ShaderMan::UseShaderDescriptor(gtex->GetTexID(), otex->GetTexID(), |
||
| 1710 | w, ftex->GetImgWidth(), gtex->GetImgWidth(), gtex->GetImgHeight(), sigma); |
||
| 1711 | GLTexImage::DrawQuad(0, (float)w, 0, (float)h); |
||
| 1712 | |||
| 1713 | //read back float format descriptors and do normalization on CPU
|
||
| 1714 | int step = w*h*4; |
||
| 1715 | if((unsigned int)step*ndf > read_buffer.size()) |
||
| 1716 | {
|
||
| 1717 | read_buffer.resize(ndf*step); |
||
| 1718 | } |
||
| 1719 | pbuf = &read_buffer[0];
|
||
| 1720 | |||
| 1721 | //read back
|
||
| 1722 | for(k = 0; k < ndf; k++, pbuf+=step) |
||
| 1723 | {
|
||
| 1724 | glReadBuffer(GL_COLOR_ATTACHMENT0_EXT + k); |
||
| 1725 | glReadPixels(0, 0, w, h, GL_RGBA, GL_FLOAT, pbuf); |
||
| 1726 | } |
||
| 1727 | |||
| 1728 | //the following two steps run on cpu, so better cpu better speed
|
||
| 1729 | //and release version can be a lot faster than debug version
|
||
| 1730 | //interlace data on the two texture to get the descriptor
|
||
| 1731 | InterlaceDescriptorF2(w / block_width, h / block_height, &read_buffer[0], pd, step);
|
||
| 1732 | |||
| 1733 | //need to do normalization
|
||
| 1734 | //the new version uses SSE to speed up this part
|
||
| 1735 | if(GlobalUtil::_NormalizedSIFT) NormalizeDescriptor(_levelFeatureNum[idx], pd);
|
||
| 1736 | |||
| 1737 | pd += 128*_levelFeatureNum[idx];
|
||
| 1738 | glReadBuffer(GL_NONE); |
||
| 1739 | } |
||
| 1740 | } |
||
| 1741 | |||
| 1742 | |||
| 1743 | //finally, put the descriptor back to their original order for existing keypoint list.
|
||
| 1744 | if(_keypoint_index.size() > 0) |
||
| 1745 | {
|
||
| 1746 | for(i = 0; i < _featureNum; ++i) |
||
| 1747 | {
|
||
| 1748 | int index = _keypoint_index[i];
|
||
| 1749 | memcpy(&_descriptor_buffer[index*128], &descriptor_buffer2[i*128], 128 * sizeof(float)); |
||
| 1750 | } |
||
| 1751 | } |
||
| 1752 | |||
| 1753 | ////////////////////////
|
||
| 1754 | GLTexImage::UnbindMultiTex(3);
|
||
| 1755 | glDrawBuffer(GL_NONE); |
||
| 1756 | ShaderMan::UnloadProgram(); |
||
| 1757 | if(GlobalUtil::_timingS)glFinish();
|
||
| 1758 | for(i = 0; i < ndf; i++) fbo.UnattachTex(GL_COLOR_ATTACHMENT0_EXT +i); |
||
| 1759 | |||
| 1760 | } |
||
| 1761 | |||
| 1762 | |||
| 1763 | void PyramidGL::DownloadKeypoints()
|
||
| 1764 | {
|
||
| 1765 | const double twopi = 2.0*3.14159265358979323846; |
||
| 1766 | int idx = 0; |
||
| 1767 | float * buffer = &_keypoint_buffer[0]; |
||
| 1768 | vector<float> keypoint_buffer2;
|
||
| 1769 | //use a different keypoint buffer when processing with an exisint features list
|
||
| 1770 | //without orientation information.
|
||
| 1771 | if(_keypoint_index.size() > 0) |
||
| 1772 | {
|
||
| 1773 | keypoint_buffer2.resize(_keypoint_buffer.size()); |
||
| 1774 | buffer = &keypoint_buffer2[0];
|
||
| 1775 | } |
||
| 1776 | float * p = buffer, *ps, sigma;
|
||
| 1777 | GLTexImage * ftex = _featureTex; |
||
| 1778 | FrameBufferObject fbo; |
||
| 1779 | ftex->FitRealTexViewPort(); |
||
| 1780 | /////////////////////
|
||
| 1781 | float os = _octave_min>=0? float(1<<_octave_min): 1.0f/(1<<(-_octave_min)); |
||
| 1782 | if(_down_sample_factor>0) os *= float(1<<_down_sample_factor); |
||
| 1783 | float offset = GlobalUtil::_LoweOrigin? 0 : 0.5f; |
||
| 1784 | /////////////////////
|
||
| 1785 | for(int i = 0; i < _octave_num; i++, os *= 2.0f) |
||
| 1786 | {
|
||
| 1787 | |||
| 1788 | for(int j = 0; j < param._dog_level_num; j++, idx++, ftex++) |
||
| 1789 | {
|
||
| 1790 | |||
| 1791 | if(_levelFeatureNum[idx]>0) |
||
| 1792 | {
|
||
| 1793 | ftex->AttachToFBO(0);
|
||
| 1794 | glReadPixels(0, 0, ftex->GetImgWidth(), ftex->GetImgHeight(),GL_RGBA, GL_FLOAT, p); |
||
| 1795 | ps = p; |
||
| 1796 | for(int k = 0; k < _levelFeatureNum[idx]; k++, ps+=4) |
||
| 1797 | {
|
||
| 1798 | ps[0] = os*(ps[0]-0.5f) + offset; //x |
||
| 1799 | ps[1] = os*(ps[1]-0.5f) + offset; //y |
||
| 1800 | sigma = os*ps[3];
|
||
| 1801 | ps[3] = (float)fmod(twopi-ps[2], twopi); //orientation, mirrored |
||
| 1802 | ps[2] = sigma; //scale |
||
| 1803 | } |
||
| 1804 | p+= 4* _levelFeatureNum[idx];
|
||
| 1805 | } |
||
| 1806 | } |
||
| 1807 | } |
||
| 1808 | |||
| 1809 | //put the feature into their original order
|
||
| 1810 | |||
| 1811 | if(_keypoint_index.size() > 0) |
||
| 1812 | {
|
||
| 1813 | for(int i = 0; i < _featureNum; ++i) |
||
| 1814 | {
|
||
| 1815 | int index = _keypoint_index[i];
|
||
| 1816 | memcpy(&_keypoint_buffer[index*4], &keypoint_buffer2[i*4], 4 * sizeof(float)); |
||
| 1817 | } |
||
| 1818 | } |
||
| 1819 | } |
||
| 1820 | |||
| 1821 | |||
| 1822 | void PyramidGL::GenerateFeatureListTex()
|
||
| 1823 | {
|
||
| 1824 | //generate feature list texture from existing keypoints
|
||
| 1825 | //do feature sorting in the same time?
|
||
| 1826 | |||
| 1827 | FrameBufferObject fbo; |
||
| 1828 | vector<float> list;
|
||
| 1829 | int idx = 0; |
||
| 1830 | const double twopi = 2.0*3.14159265358979323846; |
||
| 1831 | float sigma_half_step = powf(2.0f, 0.5f / param._dog_level_num); |
||
| 1832 | float octave_sigma = _octave_min>=0? float(1<<_octave_min): 1.0f/(1<<(-_octave_min)); |
||
| 1833 | float offset = GlobalUtil::_LoweOrigin? 0 : 0.5f; |
||
| 1834 | if(_down_sample_factor>0) octave_sigma *= float(1<<_down_sample_factor); |
||
| 1835 | |||
| 1836 | |||
| 1837 | std::fill(_levelFeatureNum, _levelFeatureNum + _octave_num * param._dog_level_num, 0);
|
||
| 1838 | |||
| 1839 | _keypoint_index.resize(0); // should already be 0 |
||
| 1840 | for(int i = 0; i < _octave_num; i++, octave_sigma*= 2.0f) |
||
| 1841 | {
|
||
| 1842 | for(int j = 0; j < param._dog_level_num; j++, idx++) |
||
| 1843 | {
|
||
| 1844 | list.resize(0);
|
||
| 1845 | float level_sigma = param.GetLevelSigma(j + param._level_min + 1) * octave_sigma; |
||
| 1846 | float sigma_min = level_sigma / sigma_half_step;
|
||
| 1847 | float sigma_max = level_sigma * sigma_half_step;
|
||
| 1848 | int fcount = 0 ; |
||
| 1849 | for(int k = 0; k < _featureNum; k++) |
||
| 1850 | {
|
||
| 1851 | float * key = &_keypoint_buffer[k*4]; |
||
| 1852 | float sigmak = key[2]; |
||
| 1853 | |||
| 1854 | //////////////////////////////////////
|
||
| 1855 | if(IsUsingRectDescription()) sigmak = min(key[2], key[3]) / 12.0f; |
||
| 1856 | |||
| 1857 | if( (sigmak >= sigma_min && sigmak < sigma_max)
|
||
| 1858 | ||(sigmak < sigma_min && i ==0 && j == 0) |
||
| 1859 | ||(sigmak > sigma_max && j == param._dog_level_num - 1&&
|
||
| 1860 | (i == _octave_num -1 || GlobalUtil::_KeyPointListForceLevel0)))
|
||
| 1861 | {
|
||
| 1862 | //add this keypoint to the list
|
||
| 1863 | list.push_back((key[0] - offset) / octave_sigma + 0.5f); |
||
| 1864 | list.push_back((key[1] - offset) / octave_sigma + 0.5f); |
||
| 1865 | if(IsUsingRectDescription())
|
||
| 1866 | {
|
||
| 1867 | list.push_back(key[2] / octave_sigma);
|
||
| 1868 | list.push_back(key[3] / octave_sigma);
|
||
| 1869 | }else
|
||
| 1870 | {
|
||
| 1871 | list.push_back((float)fmod(twopi-key[3], twopi)); |
||
| 1872 | list.push_back(key[2] / octave_sigma);
|
||
| 1873 | } |
||
| 1874 | fcount ++; |
||
| 1875 | //save the index of keypoints
|
||
| 1876 | _keypoint_index.push_back(k); |
||
| 1877 | } |
||
| 1878 | } |
||
| 1879 | |||
| 1880 | _levelFeatureNum[idx] = fcount; |
||
| 1881 | if(fcount==0)continue; |
||
| 1882 | GLTexImage * ftex = _featureTex+idx; |
||
| 1883 | |||
| 1884 | SetLevelFeatureNum(idx, fcount); |
||
| 1885 | |||
| 1886 | int fw = ftex->GetImgWidth();
|
||
| 1887 | int fh = ftex->GetImgHeight();
|
||
| 1888 | |||
| 1889 | list.resize(4*fh*fw);
|
||
| 1890 | |||
| 1891 | ftex->BindTex(); |
||
| 1892 | ftex->AttachToFBO(0);
|
||
| 1893 | glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, fw, fh, GL_RGBA, GL_FLOAT, &list[0]); |
||
| 1894 | |||
| 1895 | if( fcount == _featureNum) _keypoint_index.resize(0); |
||
| 1896 | } |
||
| 1897 | if( GlobalUtil::_KeyPointListForceLevel0 ) break; |
||
| 1898 | } |
||
| 1899 | GLTexImage::UnbindTex(); |
||
| 1900 | if(GlobalUtil::_verbose)
|
||
| 1901 | {
|
||
| 1902 | std::cout<<"#Features:\t"<<_featureNum<<"\n"; |
||
| 1903 | } |
||
| 1904 | } |
||
| 1905 | |||
| 1906 | |||
| 1907 | |||
| 1908 | PyramidPacked::PyramidPacked(SiftParam& sp): PyramidGL(sp) |
||
| 1909 | {
|
||
| 1910 | _allPyramid = NULL;
|
||
| 1911 | } |
||
| 1912 | |||
| 1913 | PyramidPacked::~PyramidPacked() |
||
| 1914 | {
|
||
| 1915 | DestroyPyramidData(); |
||
| 1916 | } |
||
| 1917 | |||
| 1918 | |||
| 1919 | //build the gaussian pyrmaid
|
||
| 1920 | |||
| 1921 | void PyramidPacked::BuildPyramid(GLTexInput * input)
|
||
| 1922 | {
|
||
| 1923 | //
|
||
| 1924 | USE_TIMING(); |
||
| 1925 | GLTexImage * tex, *tmp; |
||
| 1926 | FilterProgram ** filter; |
||
| 1927 | FrameBufferObject fbo; |
||
| 1928 | |||
| 1929 | glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 1930 | input->FitTexViewPort(); |
||
| 1931 | |||
| 1932 | for (int i = _octave_min; i < _octave_min + _octave_num; i++) |
||
| 1933 | {
|
||
| 1934 | tex = GetBaseLevel(i); |
||
| 1935 | tmp = GetBaseLevel(i, DATA_DOG) + 2; //use this as a temperory texture |
||
| 1936 | |||
| 1937 | |||
| 1938 | filter = ShaderMan::s_bag->f_gaussian_step; |
||
| 1939 | |||
| 1940 | OCTAVE_START(); |
||
| 1941 | |||
| 1942 | if( i == _octave_min )
|
||
| 1943 | {
|
||
| 1944 | if(i < 0) TextureUpSample(tex, input, 1<<(-i-1)); |
||
| 1945 | else TextureDownSample(tex, input, 1<<(i+1)); |
||
| 1946 | ShaderMan::FilterInitialImage(tex, tmp); |
||
| 1947 | }else
|
||
| 1948 | {
|
||
| 1949 | TextureDownSample(tex, GetLevelTexture(i-1, param._level_ds));
|
||
| 1950 | ShaderMan::FilterSampledImage(tex, tmp); |
||
| 1951 | } |
||
| 1952 | LEVEL_FINISH(); |
||
| 1953 | |||
| 1954 | for(int j = param._level_min + 1; j <= param._level_max ; j++, tex++, filter++) |
||
| 1955 | {
|
||
| 1956 | // filtering
|
||
| 1957 | ShaderMan::FilterImage(*filter, tex+1, tex, tmp);
|
||
| 1958 | LEVEL_FINISH(); |
||
| 1959 | } |
||
| 1960 | |||
| 1961 | OCTAVE_FINISH(); |
||
| 1962 | |||
| 1963 | } |
||
| 1964 | if(GlobalUtil::_timingS) glFinish();
|
||
| 1965 | UnloadProgram(); |
||
| 1966 | } |
||
| 1967 | |||
| 1968 | void PyramidPacked::ComputeGradient()
|
||
| 1969 | {
|
||
| 1970 | |||
| 1971 | //first pass, compute dog, gradient, orientation
|
||
| 1972 | GLenum buffers[4] = {
|
||
| 1973 | GL_COLOR_ATTACHMENT0_EXT, GL_COLOR_ATTACHMENT1_EXT , |
||
| 1974 | GL_COLOR_ATTACHMENT2_EXT, GL_COLOR_ATTACHMENT3_EXT |
||
| 1975 | }; |
||
| 1976 | |||
| 1977 | int i, j;
|
||
| 1978 | double ts, t1;
|
||
| 1979 | FrameBufferObject fbo; |
||
| 1980 | |||
| 1981 | if(GlobalUtil::_timingS && GlobalUtil::_verbose)ts = CLOCK();
|
||
| 1982 | |||
| 1983 | for(i = _octave_min; i < _octave_min + _octave_num; i++)
|
||
| 1984 | {
|
||
| 1985 | GLTexImage * gus = GetBaseLevel(i) + 1;
|
||
| 1986 | GLTexImage * dog = GetBaseLevel(i, DATA_DOG) + 1;
|
||
| 1987 | GLTexImage * grd = GetBaseLevel(i, DATA_GRAD) + 1;
|
||
| 1988 | GLTexImage * rot = GetBaseLevel(i, DATA_ROT) + 1;
|
||
| 1989 | glDrawBuffers(3, buffers);
|
||
| 1990 | gus->FitTexViewPort(); |
||
| 1991 | //compute the gradient
|
||
| 1992 | for(j = 0; j < param._dog_level_num ; j++, gus++, dog++, grd++, rot++) |
||
| 1993 | {
|
||
| 1994 | //gradient, dog, orientation
|
||
| 1995 | glActiveTexture(GL_TEXTURE0); |
||
| 1996 | gus->BindTex(); |
||
| 1997 | glActiveTexture(GL_TEXTURE1); |
||
| 1998 | (gus-1)->BindTex();
|
||
| 1999 | //output
|
||
| 2000 | dog->AttachToFBO(0);
|
||
| 2001 | grd->AttachToFBO(1);
|
||
| 2002 | rot->AttachToFBO(2);
|
||
| 2003 | ShaderMan::UseShaderGradientPass((gus-1)->GetTexID());
|
||
| 2004 | //compute
|
||
| 2005 | dog->DrawQuadMT4(); |
||
| 2006 | } |
||
| 2007 | } |
||
| 2008 | if(GlobalUtil::_timingS)
|
||
| 2009 | {
|
||
| 2010 | glFinish(); |
||
| 2011 | if(GlobalUtil::_verbose)
|
||
| 2012 | {
|
||
| 2013 | t1 = CLOCK(); |
||
| 2014 | std::cout <<"<Gradient, DOG >\t"<<(t1-ts)<<"\n"; |
||
| 2015 | } |
||
| 2016 | } |
||
| 2017 | GLTexImage::DetachFBO(1);
|
||
| 2018 | GLTexImage::DetachFBO(2);
|
||
| 2019 | UnloadProgram(); |
||
| 2020 | GLTexImage::UnbindMultiTex(3);
|
||
| 2021 | fbo.UnattachTex(GL_COLOR_ATTACHMENT1_EXT); |
||
| 2022 | } |
||
| 2023 | |||
| 2024 | void PyramidPacked::DetectKeypointsEX()
|
||
| 2025 | {
|
||
| 2026 | |||
| 2027 | //first pass, compute dog, gradient, orientation
|
||
| 2028 | GLenum buffers[4] = {
|
||
| 2029 | GL_COLOR_ATTACHMENT0_EXT, GL_COLOR_ATTACHMENT1_EXT , |
||
| 2030 | GL_COLOR_ATTACHMENT2_EXT, GL_COLOR_ATTACHMENT3_EXT |
||
| 2031 | }; |
||
| 2032 | |||
| 2033 | int i, j;
|
||
| 2034 | double t0, t, ts, t1, t2;
|
||
| 2035 | FrameBufferObject fbo; |
||
| 2036 | |||
| 2037 | if(GlobalUtil::_timingS && GlobalUtil::_verbose)ts = CLOCK();
|
||
| 2038 | |||
| 2039 | for(i = _octave_min; i < _octave_min + _octave_num; i++)
|
||
| 2040 | {
|
||
| 2041 | GLTexImage * gus = GetBaseLevel(i) + 1;
|
||
| 2042 | GLTexImage * dog = GetBaseLevel(i, DATA_DOG) + 1;
|
||
| 2043 | GLTexImage * grd = GetBaseLevel(i, DATA_GRAD) + 1;
|
||
| 2044 | GLTexImage * rot = GetBaseLevel(i, DATA_ROT) + 1;
|
||
| 2045 | glDrawBuffers(3, buffers);
|
||
| 2046 | gus->FitTexViewPort(); |
||
| 2047 | //compute the gradient
|
||
| 2048 | for(j = param._level_min +1; j <= param._level_max ; j++, gus++, dog++, grd++, rot++) |
||
| 2049 | {
|
||
| 2050 | //gradient, dog, orientation
|
||
| 2051 | glActiveTexture(GL_TEXTURE0); |
||
| 2052 | gus->BindTex(); |
||
| 2053 | glActiveTexture(GL_TEXTURE1); |
||
| 2054 | (gus-1)->BindTex();
|
||
| 2055 | //output
|
||
| 2056 | dog->AttachToFBO(0);
|
||
| 2057 | grd->AttachToFBO(1);
|
||
| 2058 | rot->AttachToFBO(2);
|
||
| 2059 | ShaderMan::UseShaderGradientPass((gus-1)->GetTexID());
|
||
| 2060 | //compute
|
||
| 2061 | dog->DrawQuadMT4(); |
||
| 2062 | } |
||
| 2063 | } |
||
| 2064 | if(GlobalUtil::_timingS && GlobalUtil::_verbose)
|
||
| 2065 | {
|
||
| 2066 | glFinish(); |
||
| 2067 | t1 = CLOCK(); |
||
| 2068 | } |
||
| 2069 | GLTexImage::DetachFBO(1);
|
||
| 2070 | GLTexImage::DetachFBO(2);
|
||
| 2071 | //glDrawBuffers(1, buffers);
|
||
| 2072 | glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 2073 | |||
| 2074 | |||
| 2075 | GlobalUtil::CheckErrorsGL(); |
||
| 2076 | |||
| 2077 | for ( i = _octave_min; i < _octave_min + _octave_num; i++)
|
||
| 2078 | {
|
||
| 2079 | if(GlobalUtil::_timingO)
|
||
| 2080 | {
|
||
| 2081 | t0 = CLOCK(); |
||
| 2082 | std::cout<<"#"<<(i + _down_sample_factor)<<"\t"; |
||
| 2083 | } |
||
| 2084 | GLTexImage * dog = GetBaseLevel(i, DATA_DOG) + 2;
|
||
| 2085 | GLTexImage * key = GetBaseLevel(i, DATA_KEYPOINT) +2;
|
||
| 2086 | key->FitTexViewPort(); |
||
| 2087 | |||
| 2088 | for( j = param._level_min +2; j < param._level_max ; j++, dog++, key++) |
||
| 2089 | {
|
||
| 2090 | if(GlobalUtil::_timingL)t = CLOCK();
|
||
| 2091 | key->AttachToFBO(0);
|
||
| 2092 | glActiveTexture(GL_TEXTURE0); |
||
| 2093 | dog->BindTex(); |
||
| 2094 | glActiveTexture(GL_TEXTURE1); |
||
| 2095 | (dog+1)->BindTex();
|
||
| 2096 | glActiveTexture(GL_TEXTURE2); |
||
| 2097 | (dog-1)->BindTex();
|
||
| 2098 | ShaderMan::UseShaderKeypoint((dog+1)->GetTexID(), (dog-1)->GetTexID()); |
||
| 2099 | key->DrawQuadMT8(); |
||
| 2100 | if(GlobalUtil::_timingL)
|
||
| 2101 | {
|
||
| 2102 | glFinish(); |
||
| 2103 | std::cout<<(CLOCK()-t)<<"\t";
|
||
| 2104 | } |
||
| 2105 | } |
||
| 2106 | if(GlobalUtil::_timingO)
|
||
| 2107 | {
|
||
| 2108 | glFinish(); |
||
| 2109 | std::cout<<"|\t"<<(CLOCK()-t0)<<"\n"; |
||
| 2110 | } |
||
| 2111 | } |
||
| 2112 | |||
| 2113 | if(GlobalUtil::_timingS)
|
||
| 2114 | {
|
||
| 2115 | glFinish(); |
||
| 2116 | if(GlobalUtil::_verbose)
|
||
| 2117 | {
|
||
| 2118 | t2 = CLOCK(); |
||
| 2119 | std::cout <<"<Gradient, DOG >\t"<<(t1-ts)<<"\n" |
||
| 2120 | <<"<Get Keypoints >\t"<<(t2-t1)<<"\n"; |
||
| 2121 | } |
||
| 2122 | |||
| 2123 | } |
||
| 2124 | UnloadProgram(); |
||
| 2125 | GLTexImage::UnbindMultiTex(3);
|
||
| 2126 | fbo.UnattachTex(GL_COLOR_ATTACHMENT1_EXT); |
||
| 2127 | } |
||
| 2128 | |||
| 2129 | |||
| 2130 | void PyramidPacked::GenerateFeatureList(int i, int j) |
||
| 2131 | {
|
||
| 2132 | float fcount = 0.0f; |
||
| 2133 | int hist_skip_gpu = GlobalUtil::_ListGenSkipGPU;
|
||
| 2134 | int idx = i * param._dog_level_num + j;
|
||
| 2135 | int hist_level_num = _hpLevelNum - _pyramid_octave_first;
|
||
| 2136 | GLTexImage * htex, * ftex, * tex; |
||
| 2137 | htex = _histoPyramidTex + hist_level_num - 1 - i;
|
||
| 2138 | ftex = _featureTex + idx; |
||
| 2139 | tex = GetBaseLevel(_octave_min + i, DATA_KEYPOINT) + 2 + j;
|
||
| 2140 | |||
| 2141 | |||
| 2142 | //fill zero to an extra row/col if the height/width is odd
|
||
| 2143 | glActiveTexture(GL_TEXTURE0); |
||
| 2144 | tex->BindTex(); |
||
| 2145 | htex->AttachToFBO(0);
|
||
| 2146 | int tight = (htex->GetImgWidth() * 4 == tex->GetImgWidth() -1 && htex->GetImgHeight() *4 == tex->GetImgHeight()-1 ); |
||
| 2147 | ShaderMan::UseShaderGenListInit(tex->GetImgWidth(), tex->GetImgHeight(), tight); |
||
| 2148 | htex->FitTexViewPort(); |
||
| 2149 | //this uses the fact that no feature is on the edge.
|
||
| 2150 | htex->DrawQuadReduction(); |
||
| 2151 | //reduction..
|
||
| 2152 | htex--; |
||
| 2153 | |||
| 2154 | //this part might have problems on several GPUS
|
||
| 2155 | //because the output of one pass is the input of the next pass
|
||
| 2156 | //may require glFinish to make it right, but too much glFinish makes it slow
|
||
| 2157 | for(int k = 0; k <hist_level_num - i-1 - hist_skip_gpu; k++, htex--) |
||
| 2158 | {
|
||
| 2159 | htex->AttachToFBO(0);
|
||
| 2160 | htex->FitTexViewPort(); |
||
| 2161 | (htex+1)->BindTex();
|
||
| 2162 | ShaderMan::UseShaderGenListHisto(); |
||
| 2163 | htex->DrawQuadReduction(); |
||
| 2164 | } |
||
| 2165 | |||
| 2166 | if(hist_skip_gpu == 0) |
||
| 2167 | {
|
||
| 2168 | //read back one pixel
|
||
| 2169 | float fn[4]; |
||
| 2170 | glReadPixels(0, 0, 1, 1, GL_RGBA , GL_FLOAT, fn); |
||
| 2171 | fcount = (fn[0] + fn[1] + fn[2] + fn[3]); |
||
| 2172 | if(fcount < 1) fcount = 0; |
||
| 2173 | |||
| 2174 | _levelFeatureNum[ idx] = (int)(fcount);
|
||
| 2175 | SetLevelFeatureNum(idx, (int)fcount);
|
||
| 2176 | |||
| 2177 | //save number of features
|
||
| 2178 | _featureNum += int(fcount);
|
||
| 2179 | |||
| 2180 | //
|
||
| 2181 | if(fcount < 1.0) return;; |
||
| 2182 | |||
| 2183 | |||
| 2184 | ///generate the feature texture
|
||
| 2185 | htex= _histoPyramidTex; |
||
| 2186 | |||
| 2187 | htex->BindTex(); |
||
| 2188 | |||
| 2189 | //first pass
|
||
| 2190 | ftex->AttachToFBO(0);
|
||
| 2191 | if(GlobalUtil::_MaxOrientation>1) |
||
| 2192 | {
|
||
| 2193 | //this is very important...
|
||
| 2194 | ftex->FitRealTexViewPort(); |
||
| 2195 | glClear(GL_COLOR_BUFFER_BIT); |
||
| 2196 | glFinish(); |
||
| 2197 | }else
|
||
| 2198 | {
|
||
| 2199 | ftex->FitTexViewPort(); |
||
| 2200 | //glFinish();
|
||
| 2201 | } |
||
| 2202 | |||
| 2203 | |||
| 2204 | ShaderMan::UseShaderGenListStart((float)ftex->GetImgWidth(), htex->GetTexID());
|
||
| 2205 | |||
| 2206 | ftex->DrawQuad(); |
||
| 2207 | //make sure it finishes before the next step
|
||
| 2208 | ftex->DetachFBO(0);
|
||
| 2209 | //pass on each pyramid level
|
||
| 2210 | htex++; |
||
| 2211 | }else
|
||
| 2212 | {
|
||
| 2213 | |||
| 2214 | int tw = htex[1].GetDrawWidth(), th = htex[1].GetDrawHeight(); |
||
| 2215 | int fc = 0; |
||
| 2216 | glReadPixels(0, 0, tw, th, GL_RGBA , GL_FLOAT, _histo_buffer); |
||
| 2217 | _keypoint_buffer.resize(0);
|
||
| 2218 | for(int y = 0, pos = 0; y < th; y++) |
||
| 2219 | {
|
||
| 2220 | for(int x= 0; x < tw; x++) |
||
| 2221 | {
|
||
| 2222 | for(int c = 0; c < 4; c++, pos++) |
||
| 2223 | {
|
||
| 2224 | int ss = (int) _histo_buffer[pos]; |
||
| 2225 | if(ss == 0) continue; |
||
| 2226 | float ft[4] = {2 * x + (c%2? 1.5f: 0.5f), 2 * y + (c>=2? 1.5f: 0.5f), 0, 1 }; |
||
| 2227 | for(int t = 0; t < ss; t++) |
||
| 2228 | {
|
||
| 2229 | ft[2] = (float) t; |
||
| 2230 | _keypoint_buffer.insert(_keypoint_buffer.end(), ft, ft+4);
|
||
| 2231 | } |
||
| 2232 | fc += (int)ss;
|
||
| 2233 | } |
||
| 2234 | } |
||
| 2235 | } |
||
| 2236 | _levelFeatureNum[ idx] = fc; |
||
| 2237 | SetLevelFeatureNum(idx, fc); |
||
| 2238 | if(fc == 0) return; |
||
| 2239 | |||
| 2240 | fcount = (float) fc;
|
||
| 2241 | _featureNum += fc; |
||
| 2242 | /////////////////////
|
||
| 2243 | ftex->AttachToFBO(0);
|
||
| 2244 | if(GlobalUtil::_MaxOrientation>1) |
||
| 2245 | {
|
||
| 2246 | ftex->FitRealTexViewPort(); |
||
| 2247 | glClear(GL_COLOR_BUFFER_BIT); |
||
| 2248 | }else
|
||
| 2249 | {
|
||
| 2250 | ftex->FitTexViewPort(); |
||
| 2251 | glFlush(); |
||
| 2252 | } |
||
| 2253 | _keypoint_buffer.resize(ftex->GetDrawWidth() * ftex->GetDrawHeight()*4, 0); |
||
| 2254 | ///////////
|
||
| 2255 | glActiveTexture(GL_TEXTURE0); |
||
| 2256 | ftex->BindTex(); |
||
| 2257 | glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, ftex->GetDrawWidth(), |
||
| 2258 | ftex->GetDrawHeight(), GL_RGBA, GL_FLOAT, &_keypoint_buffer[0]);
|
||
| 2259 | htex += 2;
|
||
| 2260 | } |
||
| 2261 | |||
| 2262 | for(int lev = 1 + hist_skip_gpu; lev < hist_level_num - i; lev++, htex++) |
||
| 2263 | {
|
||
| 2264 | glActiveTexture(GL_TEXTURE0); |
||
| 2265 | ftex->BindTex(); |
||
| 2266 | ftex->AttachToFBO(0);
|
||
| 2267 | glActiveTexture(GL_TEXTURE1); |
||
| 2268 | htex->BindTex(); |
||
| 2269 | ShaderMan::UseShaderGenListStep(ftex->GetTexID(), htex->GetTexID()); |
||
| 2270 | ftex->DrawQuad(); |
||
| 2271 | ftex->DetachFBO(0);
|
||
| 2272 | } |
||
| 2273 | |||
| 2274 | ftex->AttachToFBO(0);
|
||
| 2275 | glActiveTexture(GL_TEXTURE1); |
||
| 2276 | tex->BindTex(); |
||
| 2277 | ShaderMan::UseShaderGenListEnd(tex->GetTexID()); |
||
| 2278 | ftex->DrawQuad(); |
||
| 2279 | GLTexImage::UnbindMultiTex(2);
|
||
| 2280 | |||
| 2281 | } |
||
| 2282 | |||
| 2283 | void PyramidPacked::GenerateFeatureList()
|
||
| 2284 | {
|
||
| 2285 | //generate the histogram pyramid
|
||
| 2286 | FrameBufferObject fbo; |
||
| 2287 | glReadBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 2288 | glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 2289 | double t1, t2;
|
||
| 2290 | int ocount= 0, reverse = (GlobalUtil::_TruncateMethod == 1); |
||
| 2291 | _featureNum = 0;
|
||
| 2292 | |||
| 2293 | FitHistogramPyramid(); |
||
| 2294 | //for(int i = 0, idx = 0; i < _octave_num; i++)
|
||
| 2295 | FOR_EACH_OCTAVE(i, reverse) |
||
| 2296 | {
|
||
| 2297 | if(GlobalUtil::_timingO)
|
||
| 2298 | {
|
||
| 2299 | t1= CLOCK(); |
||
| 2300 | ocount = 0;
|
||
| 2301 | std::cout<<"#"<<i+_octave_min + _down_sample_factor<<":\t"; |
||
| 2302 | } |
||
| 2303 | //for(int j = 0; j < param._dog_level_num; j++, idx++)
|
||
| 2304 | FOR_EACH_LEVEL(j, reverse) |
||
| 2305 | {
|
||
| 2306 | if(GlobalUtil::_TruncateMethod && GlobalUtil::_FeatureCountThreshold > 0 && _featureNum > GlobalUtil::_FeatureCountThreshold) continue; |
||
| 2307 | |||
| 2308 | GenerateFeatureList(i, j); |
||
| 2309 | |||
| 2310 | if(GlobalUtil::_timingO)
|
||
| 2311 | {
|
||
| 2312 | int idx = i * param._dog_level_num + j;
|
||
| 2313 | ocount += _levelFeatureNum[idx]; |
||
| 2314 | std::cout<< _levelFeatureNum[idx] <<"\t";
|
||
| 2315 | } |
||
| 2316 | } |
||
| 2317 | if(GlobalUtil::_timingO)
|
||
| 2318 | {
|
||
| 2319 | t2 = CLOCK(); |
||
| 2320 | std::cout << "| \t" << int(ocount) << " :\t(" << (t2 - t1) << ")\n"; |
||
| 2321 | } |
||
| 2322 | } |
||
| 2323 | if(GlobalUtil::_timingS)glFinish();
|
||
| 2324 | if(GlobalUtil::_verbose)
|
||
| 2325 | {
|
||
| 2326 | std::cout<<"#Features:\t"<<_featureNum<<"\n"; |
||
| 2327 | } |
||
| 2328 | |||
| 2329 | } |
||
| 2330 | |||
| 2331 | void PyramidPacked::GenerateFeatureListCPU()
|
||
| 2332 | {
|
||
| 2333 | FrameBufferObject fbo; |
||
| 2334 | _featureNum = 0;
|
||
| 2335 | GLTexImage * tex = GetBaseLevel(_octave_min); |
||
| 2336 | float * mem = new float [tex->GetTexWidth()*tex->GetTexHeight()*4]; |
||
| 2337 | vector<float> list;
|
||
| 2338 | int idx = 0; |
||
| 2339 | for(int i = 0; i < _octave_num; i++) |
||
| 2340 | {
|
||
| 2341 | for(int j = 0; j < param._dog_level_num; j++, idx++) |
||
| 2342 | {
|
||
| 2343 | tex = GetBaseLevel(_octave_min + i, DATA_KEYPOINT) + j + 2;
|
||
| 2344 | tex->BindTex(); |
||
| 2345 | glGetTexImage(GlobalUtil::_texTarget, 0, GL_RGBA, GL_FLOAT, mem);
|
||
| 2346 | //tex->AttachToFBO(0);
|
||
| 2347 | //tex->FitTexViewPort();
|
||
| 2348 | //glReadPixels(0, 0, tex->GetTexWidth(), tex->GetTexHeight(), GL_RED, GL_FLOAT, mem);
|
||
| 2349 | //
|
||
| 2350 | //make a list of
|
||
| 2351 | list.resize(0);
|
||
| 2352 | float *pl = mem;
|
||
| 2353 | int fcount = 0 ; |
||
| 2354 | for(int k = 0; k < tex->GetDrawHeight(); k++) |
||
| 2355 | {
|
||
| 2356 | float * p = pl;
|
||
| 2357 | pl += tex->GetTexWidth() * 4;
|
||
| 2358 | for( int m = 0; m < tex->GetDrawWidth(); m ++, p+=4) |
||
| 2359 | {
|
||
| 2360 | // if(m ==0 || k ==0 || k == tex->GetDrawHeight() -1 || m == tex->GetDrawWidth() -1) continue;
|
||
| 2361 | // if(*p == 0) continue;
|
||
| 2362 | int t = ((int) fabs(p[0])) - 1; |
||
| 2363 | if(t < 0) continue; |
||
| 2364 | int xx = m + m + ( (t %2)? 1 : 0); |
||
| 2365 | int yy = k + k + ( (t <2)? 0 : 1); |
||
| 2366 | if(xx ==0 || yy == 0) continue; |
||
| 2367 | if(xx >= tex->GetImgWidth() - 1 || yy >= tex->GetImgHeight() - 1)continue; |
||
| 2368 | list.push_back(xx + 0.5f + p[1]); |
||
| 2369 | list.push_back(yy + 0.5f + p[2]); |
||
| 2370 | list.push_back(GlobalUtil::_KeepExtremumSign && p[0] < 0 ? -1.0f : 1.0f); |
||
| 2371 | list.push_back(p[3]);
|
||
| 2372 | fcount ++; |
||
| 2373 | } |
||
| 2374 | } |
||
| 2375 | if(fcount==0)continue; |
||
| 2376 | |||
| 2377 | if(GlobalUtil::_timingL) std::cout<<fcount<<"."; |
||
| 2378 | |||
| 2379 | GLTexImage * ftex = _featureTex+idx; |
||
| 2380 | _levelFeatureNum[idx] = (fcount); |
||
| 2381 | SetLevelFeatureNum(idx, fcount); |
||
| 2382 | |||
| 2383 | _featureNum += (fcount); |
||
| 2384 | |||
| 2385 | |||
| 2386 | int fw = ftex->GetImgWidth();
|
||
| 2387 | int fh = ftex->GetImgHeight();
|
||
| 2388 | |||
| 2389 | list.resize(4*fh*fw);
|
||
| 2390 | |||
| 2391 | ftex->BindTex(); |
||
| 2392 | ftex->AttachToFBO(0);
|
||
| 2393 | // glTexImage2D(GlobalUtil::_texTarget, 0, GlobalUtil::_iTexFormat, fw, fh, 0, GL_BGRA, GL_FLOAT, &list[0]);
|
||
| 2394 | glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, fw, fh, GL_RGBA, GL_FLOAT, &list[0]); |
||
| 2395 | //
|
||
| 2396 | } |
||
| 2397 | } |
||
| 2398 | GLTexImage::UnbindTex(); |
||
| 2399 | delete mem;
|
||
| 2400 | if(GlobalUtil::_verbose)
|
||
| 2401 | {
|
||
| 2402 | std::cout<<"#Features:\t"<<_featureNum<<"\n"; |
||
| 2403 | } |
||
| 2404 | } |
||
| 2405 | |||
| 2406 | |||
| 2407 | |||
| 2408 | void PyramidPacked::GetFeatureOrientations()
|
||
| 2409 | {
|
||
| 2410 | GLTexImage * gtex, * otex; |
||
| 2411 | GLTexImage * ftex = _featureTex; |
||
| 2412 | GLTexImage * fotex = _orientationTex; |
||
| 2413 | int * count = _levelFeatureNum;
|
||
| 2414 | float sigma, sigma_step = powf(2.0f, 1.0f/param._dog_level_num); |
||
| 2415 | |||
| 2416 | |||
| 2417 | FrameBufferObject fbo; |
||
| 2418 | if(_orientationTex)
|
||
| 2419 | {
|
||
| 2420 | GLenum buffers[] = { GL_COLOR_ATTACHMENT0_EXT, GL_COLOR_ATTACHMENT1_EXT };
|
||
| 2421 | glDrawBuffers(2, buffers);
|
||
| 2422 | }else
|
||
| 2423 | {
|
||
| 2424 | glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 2425 | } |
||
| 2426 | |||
| 2427 | for(int i = 0; i < _octave_num; i++) |
||
| 2428 | {
|
||
| 2429 | gtex = GetBaseLevel(i+_octave_min, DATA_GRAD) + 1;
|
||
| 2430 | otex = GetBaseLevel(i+_octave_min, DATA_ROT) + 1;
|
||
| 2431 | |||
| 2432 | for(int j = 0; j < param._dog_level_num; j++, ftex++, otex++, count++, gtex++, fotex++) |
||
| 2433 | {
|
||
| 2434 | if(*count<=0)continue; |
||
| 2435 | |||
| 2436 | sigma = param.GetLevelSigma(j+param._level_min+1);
|
||
| 2437 | |||
| 2438 | |||
| 2439 | ftex->FitTexViewPort(); |
||
| 2440 | |||
| 2441 | glActiveTexture(GL_TEXTURE0); |
||
| 2442 | ftex->BindTex(); |
||
| 2443 | glActiveTexture(GL_TEXTURE1); |
||
| 2444 | gtex->BindTex(); |
||
| 2445 | glActiveTexture(GL_TEXTURE2); |
||
| 2446 | otex->BindTex(); |
||
| 2447 | //
|
||
| 2448 | ftex->AttachToFBO(0);
|
||
| 2449 | if(_orientationTex) fotex->AttachToFBO(1); |
||
| 2450 | |||
| 2451 | ShaderMan::UseShaderOrientation(gtex->GetTexID(), |
||
| 2452 | gtex->GetImgWidth(), gtex->GetImgHeight(), |
||
| 2453 | sigma, otex->GetTexID(), sigma_step, _existing_keypoints); |
||
| 2454 | ftex->DrawQuad(); |
||
| 2455 | } |
||
| 2456 | } |
||
| 2457 | |||
| 2458 | GLTexImage::UnbindMultiTex(3);
|
||
| 2459 | if(GlobalUtil::_timingS)glFinish();
|
||
| 2460 | if(_orientationTex) fbo.UnattachTex(GL_COLOR_ATTACHMENT1_EXT);
|
||
| 2461 | |||
| 2462 | } |
||
| 2463 | |||
| 2464 | |||
| 2465 | void PyramidPacked::GetSimplifiedOrientation()
|
||
| 2466 | {
|
||
| 2467 | //
|
||
| 2468 | int idx = 0; |
||
| 2469 | // int n = _octave_num * param._dog_level_num;
|
||
| 2470 | float sigma, sigma_step = powf(2.0f, 1.0f/param._dog_level_num); |
||
| 2471 | GLTexImage * ftex = _featureTex; |
||
| 2472 | |||
| 2473 | FrameBufferObject fbo; |
||
| 2474 | glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
||
| 2475 | for(int i = 0; i < _octave_num; i++) |
||
| 2476 | {
|
||
| 2477 | GLTexImage *otex = GetBaseLevel(i + _octave_min, DATA_ROT) + 2;
|
||
| 2478 | for(int j = 0; j < param._dog_level_num; j++, ftex++, otex++, idx ++) |
||
| 2479 | {
|
||
| 2480 | if(_levelFeatureNum[idx]<=0)continue; |
||
| 2481 | sigma = param.GetLevelSigma(j+param._level_min+1);
|
||
| 2482 | //
|
||
| 2483 | ftex->AttachToFBO(0);
|
||
| 2484 | ftex->FitTexViewPort(); |
||
| 2485 | |||
| 2486 | glActiveTexture(GL_TEXTURE0); |
||
| 2487 | ftex->BindTex(); |
||
| 2488 | glActiveTexture(GL_TEXTURE1); |
||
| 2489 | otex->BindTex(); |
||
| 2490 | |||
| 2491 | ShaderMan::UseShaderSimpleOrientation(otex->GetTexID(), sigma, sigma_step); |
||
| 2492 | ftex->DrawQuad(); |
||
| 2493 | } |
||
| 2494 | } |
||
| 2495 | GLTexImage::UnbindMultiTex(2);
|
||
| 2496 | } |
||
| 2497 | |||
| 2498 | void PyramidPacked::InitPyramid(int w, int h, int ds) |
||
| 2499 | {
|
||
| 2500 | int wp, hp, toobig = 0; |
||
| 2501 | if(ds == 0) |
||
| 2502 | {
|
||
| 2503 | _down_sample_factor = 0;
|
||
| 2504 | if(GlobalUtil::_octave_min_default>=0) |
||
| 2505 | {
|
||
| 2506 | wp = w >> GlobalUtil::_octave_min_default; |
||
| 2507 | hp = h >> GlobalUtil::_octave_min_default; |
||
| 2508 | }else
|
||
| 2509 | {
|
||
| 2510 | wp = w << (-GlobalUtil::_octave_min_default); |
||
| 2511 | hp = h << (-GlobalUtil::_octave_min_default); |
||
| 2512 | } |
||
| 2513 | _octave_min = _octave_min_default; |
||
| 2514 | }else
|
||
| 2515 | {
|
||
| 2516 | //must use 0 as _octave_min;
|
||
| 2517 | _octave_min = 0;
|
||
| 2518 | _down_sample_factor = ds; |
||
| 2519 | w >>= ds; |
||
| 2520 | h >>= ds; |
||
| 2521 | wp = w; |
||
| 2522 | hp = h; |
||
| 2523 | } |
||
| 2524 | |||
| 2525 | while(wp > GlobalUtil::_texMaxDim || hp > GlobalUtil::_texMaxDim )
|
||
| 2526 | {
|
||
| 2527 | _octave_min ++; |
||
| 2528 | wp >>= 1;
|
||
| 2529 | hp >>= 1;
|
||
| 2530 | toobig = 1;
|
||
| 2531 | } |
||
| 2532 | if(toobig && GlobalUtil::_verbose && _octave_min > 0) |
||
| 2533 | {
|
||
| 2534 | |||
| 2535 | std::cout<< "**************************************************************\n"
|
||
| 2536 | "Image larger than allowed dimension, data will be downsampled!\n"
|
||
| 2537 | "use -maxd to change the settings\n"
|
||
| 2538 | "***************************************************************\n";
|
||
| 2539 | } |
||
| 2540 | |||
| 2541 | if( wp == _pyramid_width && hp == _pyramid_height && _allocated )
|
||
| 2542 | {
|
||
| 2543 | FitPyramid(wp, hp); |
||
| 2544 | }else if(GlobalUtil::_ForceTightPyramid || _allocated ==0) |
||
| 2545 | {
|
||
| 2546 | ResizePyramid(wp, hp); |
||
| 2547 | } |
||
| 2548 | else if( wp > _pyramid_width || hp > _pyramid_height ) |
||
| 2549 | {
|
||
| 2550 | ResizePyramid(max(wp, _pyramid_width), max(hp, _pyramid_height)); |
||
| 2551 | if(wp < _pyramid_width || hp < _pyramid_height) FitPyramid(wp, hp);
|
||
| 2552 | } |
||
| 2553 | else
|
||
| 2554 | {
|
||
| 2555 | //try use the pyramid allocated for large image on small input images
|
||
| 2556 | FitPyramid(wp, hp); |
||
| 2557 | } |
||
| 2558 | |||
| 2559 | //select the initial smoothing filter according to the new _octave_min
|
||
| 2560 | ShaderMan::SelectInitialSmoothingFilter(_octave_min + _down_sample_factor, param); |
||
| 2561 | } |
||
| 2562 | |||
| 2563 | |||
| 2564 | |||
| 2565 | void PyramidPacked::FitPyramid(int w, int h) |
||
| 2566 | {
|
||
| 2567 | //(w, h) <= (_pyramid_width, _pyramid_height);
|
||
| 2568 | |||
| 2569 | _pyramid_octave_first = 0;
|
||
| 2570 | //
|
||
| 2571 | _octave_num = GlobalUtil::_octave_num_default; |
||
| 2572 | |||
| 2573 | int _octave_num_max = GetRequiredOctaveNum(min(w, h));
|
||
| 2574 | |||
| 2575 | if(_octave_num < 1 || _octave_num > _octave_num_max) |
||
| 2576 | {
|
||
| 2577 | _octave_num = _octave_num_max; |
||
| 2578 | } |
||
| 2579 | |||
| 2580 | |||
| 2581 | int pw = _pyramid_width>>1, ph = _pyramid_height>>1; |
||
| 2582 | while(_pyramid_octave_first + _octave_num < _pyramid_octave_num &&
|
||
| 2583 | pw >= w && ph >= h) |
||
| 2584 | {
|
||
| 2585 | _pyramid_octave_first++; |
||
| 2586 | pw >>= 1;
|
||
| 2587 | ph >>= 1;
|
||
| 2588 | } |
||
| 2589 | |||
| 2590 | for(int i = 0; i < _octave_num; i++) |
||
| 2591 | {
|
||
| 2592 | GLTexImage * tex = GetBaseLevel(i + _octave_min); |
||
| 2593 | GLTexImage * dog = GetBaseLevel(i + _octave_min, DATA_DOG); |
||
| 2594 | GLTexImage * grd = GetBaseLevel(i + _octave_min, DATA_GRAD); |
||
| 2595 | GLTexImage * rot = GetBaseLevel(i + _octave_min, DATA_ROT); |
||
| 2596 | GLTexImage * key = GetBaseLevel(i + _octave_min, DATA_KEYPOINT); |
||
| 2597 | for(int j = param._level_min; j <= param._level_max; j++, tex++, dog++, grd++, rot++, key++) |
||
| 2598 | {
|
||
| 2599 | tex->SetImageSize(w, h); |
||
| 2600 | if(j == param._level_min) continue; |
||
| 2601 | dog->SetImageSize(w, h); |
||
| 2602 | grd->SetImageSize(w, h); |
||
| 2603 | rot->SetImageSize(w, h); |
||
| 2604 | if(j == param._level_min + 1 || j == param._level_max) continue; |
||
| 2605 | key->SetImageSize(w, h); |
||
| 2606 | } |
||
| 2607 | w>>=1;
|
||
| 2608 | h>>=1;
|
||
| 2609 | } |
||
| 2610 | } |
||
| 2611 | |||
| 2612 | |||
| 2613 | void PyramidPacked::ResizePyramid( int w, int h) |
||
| 2614 | {
|
||
| 2615 | //
|
||
| 2616 | unsigned int totalkb = 0; |
||
| 2617 | int _octave_num_new, input_sz, i, j;
|
||
| 2618 | //
|
||
| 2619 | |||
| 2620 | if(_pyramid_width == w && _pyramid_height == h && _allocated) return; |
||
| 2621 | |||
| 2622 | if(w > GlobalUtil::_texMaxDim || h > GlobalUtil::_texMaxDim) return ; |
||
| 2623 | |||
| 2624 | if(GlobalUtil::_verbose && GlobalUtil::_timingS) std::cout<<"[Allocate Pyramid]:\t" <<w<<"x"<<h<<endl; |
||
| 2625 | //first octave does not change
|
||
| 2626 | _pyramid_octave_first = 0;
|
||
| 2627 | |||
| 2628 | |||
| 2629 | //compute # of octaves
|
||
| 2630 | |||
| 2631 | input_sz = min(w,h) ; |
||
| 2632 | _pyramid_width = w; |
||
| 2633 | _pyramid_height = h; |
||
| 2634 | |||
| 2635 | //reset to preset parameters
|
||
| 2636 | _octave_num_new = GlobalUtil::_octave_num_default; |
||
| 2637 | |||
| 2638 | if(_octave_num_new < 1) _octave_num_new = GetRequiredOctaveNum(input_sz) ; |
||
| 2639 | |||
| 2640 | |||
| 2641 | if(_pyramid_octave_num != _octave_num_new)
|
||
| 2642 | {
|
||
| 2643 | //destroy the original pyramid if the # of octave changes
|
||
| 2644 | if(_octave_num >0) |
||
| 2645 | {
|
||
| 2646 | DestroyPerLevelData(); |
||
| 2647 | DestroyPyramidData(); |
||
| 2648 | } |
||
| 2649 | _pyramid_octave_num = _octave_num_new; |
||
| 2650 | } |
||
| 2651 | |||
| 2652 | _octave_num = _pyramid_octave_num; |
||
| 2653 | |||
| 2654 | int noct = _octave_num;
|
||
| 2655 | int nlev = param._level_num;
|
||
| 2656 | |||
| 2657 | // //initialize the pyramid
|
||
| 2658 | if(_allPyramid==NULL) _allPyramid = new GLTexPacked[ noct* nlev * DATA_NUM]; |
||
| 2659 | |||
| 2660 | |||
| 2661 | GLTexPacked * gus = (GLTexPacked *) GetBaseLevel(_octave_min, DATA_GAUSSIAN); |
||
| 2662 | GLTexPacked * dog = (GLTexPacked *) GetBaseLevel(_octave_min, DATA_DOG); |
||
| 2663 | GLTexPacked * grd = (GLTexPacked *) GetBaseLevel(_octave_min, DATA_GRAD); |
||
| 2664 | GLTexPacked * rot = (GLTexPacked *) GetBaseLevel(_octave_min, DATA_ROT); |
||
| 2665 | GLTexPacked * key = (GLTexPacked *) GetBaseLevel(_octave_min, DATA_KEYPOINT); |
||
| 2666 | |||
| 2667 | |||
| 2668 | ////////////there could be "out of memory" happening during the allocation
|
||
| 2669 | |||
| 2670 | for(i = 0; i< noct; i++) |
||
| 2671 | {
|
||
| 2672 | for( j = 0; j< nlev; j++, gus++, dog++, grd++, rot++, key++) |
||
| 2673 | {
|
||
| 2674 | gus->InitTexture(w, h); |
||
| 2675 | if(j==0)continue; |
||
| 2676 | dog->InitTexture(w, h); |
||
| 2677 | grd->InitTexture(w, h, 0);
|
||
| 2678 | rot->InitTexture(w, h); |
||
| 2679 | if(j<=1 || j >=nlev -1) continue; |
||
| 2680 | key->InitTexture(w, h, 0);
|
||
| 2681 | } |
||
| 2682 | int tsz = (gus -1)->GetTexPixelCount() * 16; |
||
| 2683 | totalkb += ((nlev *5 -6)* tsz / 1024); |
||
| 2684 | //several auxilary textures are not actually required
|
||
| 2685 | w>>=1;
|
||
| 2686 | h>>=1;
|
||
| 2687 | } |
||
| 2688 | |||
| 2689 | totalkb += ResizeFeatureStorage(); |
||
| 2690 | |||
| 2691 | _allocated = 1;
|
||
| 2692 | |||
| 2693 | if(GlobalUtil::_verbose && GlobalUtil::_timingS) std::cout<<"[Allocate Pyramid]:\t" <<(totalkb/1024)<<"MB\n"; |
||
| 2694 | |||
| 2695 | } |
||
| 2696 | |||
| 2697 | void PyramidPacked::DestroyPyramidData()
|
||
| 2698 | {
|
||
| 2699 | if(_allPyramid)
|
||
| 2700 | {
|
||
| 2701 | delete [] _allPyramid;
|
||
| 2702 | _allPyramid = NULL;
|
||
| 2703 | } |
||
| 2704 | } |
||
| 2705 | |||
| 2706 | |||
| 2707 | GLTexImage* PyramidPacked::GetLevelTexture(int octave, int level, int dataName) |
||
| 2708 | {
|
||
| 2709 | return _allPyramid+ (_pyramid_octave_first + octave - _octave_min) * param._level_num
|
||
| 2710 | + param._level_num * _pyramid_octave_num * dataName |
||
| 2711 | + (level - param._level_min); |
||
| 2712 | |||
| 2713 | } |
||
| 2714 | |||
| 2715 | GLTexImage* PyramidPacked::GetLevelTexture(int octave, int level) |
||
| 2716 | {
|
||
| 2717 | return _allPyramid+ (_pyramid_octave_first + octave - _octave_min) * param._level_num
|
||
| 2718 | + (level - param._level_min); |
||
| 2719 | } |
||
| 2720 | |||
| 2721 | //in the packed implementation( still in progress)
|
||
| 2722 | // DATA_GAUSSIAN, DATA_DOG, DATA_GAD will be stored in different textures.
|
||
| 2723 | |||
| 2724 | GLTexImage* PyramidPacked::GetBaseLevel(int octave, int dataName) |
||
| 2725 | {
|
||
| 2726 | if(octave <_octave_min || octave > _octave_min + _octave_num) return NULL; |
||
| 2727 | int offset = (_pyramid_octave_first + octave - _octave_min) * param._level_num;
|
||
| 2728 | int num = param._level_num * _pyramid_octave_num;
|
||
| 2729 | return _allPyramid + num *dataName + offset;
|
||
| 2730 | } |
||
| 2731 | |||
| 2732 | |||
| 2733 | void PyramidPacked::FitHistogramPyramid()
|
||
| 2734 | {
|
||
| 2735 | GLTexImage * tex, *htex; |
||
| 2736 | int hist_level_num = _hpLevelNum - _pyramid_octave_first;
|
||
| 2737 | |||
| 2738 | tex = GetBaseLevel(_octave_min , DATA_KEYPOINT) + 2;
|
||
| 2739 | htex = _histoPyramidTex + hist_level_num - 1;
|
||
| 2740 | int w = (tex->GetImgWidth() + 2) >> 2; |
||
| 2741 | int h = (tex->GetImgHeight() + 2)>> 2; |
||
| 2742 | |||
| 2743 | |||
| 2744 | //4n+1 -> n; 4n+2,2, 3 -> n+1
|
||
| 2745 | for(int k = 0; k <hist_level_num -1; k++, htex--) |
||
| 2746 | {
|
||
| 2747 | if(htex->GetImgHeight()!= h || htex->GetImgWidth() != w)
|
||
| 2748 | {
|
||
| 2749 | htex->SetImageSize(w, h); |
||
| 2750 | htex->ZeroHistoMargin(); |
||
| 2751 | } |
||
| 2752 | |||
| 2753 | w = (w + 1)>>1; h = (h + 1) >> 1; |
||
| 2754 | } |
||
| 2755 | } |