Quadrotor

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

//        File:                PyramidCU.h

//        Author:                Changchang Wu

//        Description : interface for the PyramdCU

//

//        Copyright (c) 2007 University of North Carolina at Chapel Hill

//        All Rights Reserved

//

//        Permission to use, copy, modify and distribute this software and its

//        documentation for educational, research and non-profit purposes, without

//        fee, and without a written agreement is hereby granted, provided that the

//        above copyright notice and the following paragraph appear in all copies.

//        

//        The University of North Carolina at Chapel Hill make no representations

//        about the suitability of this software for any purpose. It is provided

//        'as is' without express or implied warranty. 

//

//        Please send BUG REPORTS to ccwu@cs.unc.edu

//

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

#ifndef _PYRAMID_CU_H

#define _PYRAMID_CU_H

#if defined(CUDA_SIFTGPU_ENABLED)

class GLTexImage;

class CuTexImage;

class SiftPyramid;

class PyramidCU:public SiftPyramid

{

        CuTexImage* _inputTex;

        CuTexImage* _allPyramid;

        CuTexImage* _histoPyramidTex;

        CuTexImage* _featureTex;

        CuTexImage* _descriptorTex;

        CuTexImage* _orientationTex;

        GLuint                _bufferPBO;

    GLTexImage* _bufferTEX;

public:

        virtual void GetFeatureDescriptors();

        virtual void GenerateFeatureListTex();

        virtual void ReshapeFeatureListCPU();

        virtual void GenerateFeatureDisplayVBO();

        virtual void DestroySharedData();

        virtual void DestroyPerLevelData();

        virtual void DestroyPyramidData();

        virtual void DownloadKeypoints();

        virtual void GenerateFeatureListCPU();

        virtual void GenerateFeatureList();

        virtual GLTexImage* GetLevelTexture(int octave, int level);

        virtual GLTexImage* GetLevelTexture(int octave, int level, int dataName);

        virtual void BuildPyramid(GLTexInput * input);

        virtual void DetectKeypointsEX();

        virtual void ComputeGradient();

        virtual void GetFeatureOrientations();

        virtual void GetSimplifiedOrientation();

        virtual void InitPyramid(int w, int h, int ds = 0);

        virtual void ResizePyramid(int w, int h);

    virtual int  IsUsingRectDescription(){return _existing_keypoints & SIFT_RECT_DESCRIPTION; }        

        //////////

        void CopyGradientTex();

        void FitPyramid(int w, int h);

    void InitializeContext();

        int ResizeFeatureStorage();

        int FitHistogramPyramid(CuTexImage* tex);

        void SetLevelFeatureNum(int idx, int fcount);

        void ConvertInputToCU(GLTexInput* input);

        GLTexImage* ConvertTexCU2GL(CuTexImage* tex, int dataName);

        CuTexImage* GetBaseLevel(int octave, int dataName = DATA_GAUSSIAN);

    void TruncateWidth(int& w) { w = GLTexInput::TruncateWidthCU(w); }

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

    static int CheckCudaDevice(int device);

private:

        void GenerateFeatureList(int i, int j, int reduction_count, vector<int>& hbuffer);

public:

        PyramidCU(SiftParam& sp);

        virtual ~PyramidCU();

};

#endif

#endif