Quadrotor

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

//        File:                PyramidGL.h

//        Author:                Changchang Wu

//        Description : interface for the PyramdGL

//                class PyramidNaive and PyramidPacked are derived from PyramidGL

//

//        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_GL_H

#define _PYRAMID_GL_H

class GLTexImage;

class SiftParam;

class ProgramGPU;

class ShaderMan;

class GlobalUtil;

class SiftPyramid;

class PyramidGL:public SiftPyramid

{

protected:

        GLTexImage* _histoPyramidTex;

        GLTexImage* _featureTex;

        GLTexImage* _descriptorTex;

        GLTexImage* _orientationTex;

public:

    void InitializeContext();

        void SetLevelFeatureNum(int idx, int num);

        void GetTextureStorageSize(int num, int &fw, int& fh);

        void GetAlignedStorageSize(int num, int align, int &fw, int &fh);

        static void InterlaceDescriptorF2(int w, int h, float* buf, float* pd, int step);

        static void NormalizeDescriptor(int num, float*pd);

        virtual void DownloadKeypoints();

        virtual int ResizeFeatureStorage();

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

        virtual void DestroyPerLevelData();

        virtual void DestroySharedData();

        virtual void GetFeatureDescriptors();

        virtual void GenerateFeatureListTex();

        virtual void ReshapeFeatureListCPU();

        virtual void GenerateFeatureDisplayVBO();

    virtual void CleanUpAfterSIFT();

        virtual GLTexImage* GetBaseLevel(int octave, int dataName = DATA_GAUSSIAN)=0;

public:

        PyramidGL(SiftParam&sp);

        virtual ~PyramidGL();

};

class PyramidNaive:public PyramidGL, public ShaderMan  

{

protected:

        GLTexImage * _texPyramid;

        GLTexImage * _auxPyramid;

public:

        void DestroyPyramidData();

        void GetSimplifiedOrientation();

        void GenerateFeatureListCPU();

        virtual void GetFeatureOrientations();

        virtual void GenerateFeatureList();

        void DetectKeypointsEX();

        void ComputeGradient();

        GLTexImage* GetLevelTexture(int octave, int level);

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

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

        void BuildPyramid(GLTexInput * input);

        void InitPyramid(int w, int h, int ds);

        void FitPyramid(int w, int h);

        void ResizePyramid(int w, int h);

        void FitHistogramPyramid();

        PyramidNaive(SiftParam & sp);

        ~PyramidNaive();

private:

    void GenerateFeatureList(int i, int j);

};

class PyramidPacked:public PyramidGL, public ShaderMan

{

        GLTexPacked * _allPyramid;

public:

        PyramidPacked(SiftParam& sp);

        ~PyramidPacked();

        void DestroyPyramidData();

        void DetectKeypointsEX();

        void ComputeGradient();

        void BuildPyramid(GLTexInput * input);

        void InitPyramid(int w, int h, int ds);

        void FitPyramid(int w, int h);

        void ResizePyramid(int w, int h);

        void FitHistogramPyramid();

        void GenerateFeatureListCPU();

        void GenerateFeatureList();

        void GetSimplifiedOrientation();

        void GetFeatureOrientations();

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

        GLTexImage* GetLevelTexture(int octave, int level);

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

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

private:

    void GenerateFeatureList(int i, int j);

};

#endif