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////////////////////////////////////////////////////////////////////////////
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//        File:                SiftMatchCU.cpp
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//        Author:                Changchang Wu
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//        Description : implementation of the SiftMatchCU class.
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//                                CUDA-based implementation of SiftMatch
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//
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//        Copyright (c) 2007 University of North Carolina at Chapel Hill
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//        All Rights Reserved
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//
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//        Permission to use, copy, modify and distribute this software and its
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//        documentation for educational, research and non-profit purposes, without
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//        fee, and without a written agreement is hereby granted, provided that the
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//        above copyright notice and the following paragraph appear in all copies.
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//        
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//        The University of North Carolina at Chapel Hill make no representations
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//        about the suitability of this software for any purpose. It is provided
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//        'as is' without express or implied warranty. 
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//
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//        Please send BUG REPORTS to ccwu@cs.unc.edu
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//
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////////////////////////////////////////////////////////////////////////////
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#if defined(CUDA_SIFTGPU_ENABLED)
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#include "GL/glew.h"
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#include <iostream>
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#include <vector>
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#include <algorithm>
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#include <stdlib.h>
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#include <math.h>
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using namespace std;
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#include "GlobalUtil.h"
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#include "CuTexImage.h" 
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#include "SiftGPU.h"
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#include "ProgramCU.h"
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#include "SiftMatchCU.h"
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SiftMatchCU::SiftMatchCU(int max_sift):SiftMatchGPU()
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{
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        _num_sift[0] = _num_sift[1] = 0;
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        _id_sift[0] = _id_sift[1] = 0;
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        _have_loc[0] = _have_loc[1] = 0;
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        _max_sift = max_sift <=0 ? 4096 : ((max_sift + 31)/ 32 * 32) ; 
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        _initialized = 0;
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}
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void SiftMatchCU::SetMaxSift(int max_sift)
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{
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        max_sift = ((max_sift + 31)/32)*32;
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        if(max_sift > GlobalUtil::_texMaxDimGL) max_sift = GlobalUtil::_texMaxDimGL;
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        _max_sift = max_sift;
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}
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int  SiftMatchCU::CheckCudaDevice(int device)
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{
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    return ProgramCU::CheckCudaDevice(device);
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}
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void SiftMatchCU::InitSiftMatch()
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{
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        if(_initialized) return;
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    GlobalUtil::_GoodOpenGL = max(GlobalUtil::_GoodOpenGL, 1); 
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        _initialized = 1; 
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}
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void SiftMatchCU::SetDescriptors(int index, int num, const unsigned char* descriptors, int id)
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{        
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        if(_initialized == 0) return;
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        if (index > 1) index = 1;
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        if (index < 0) index = 0;
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        _have_loc[index] = 0;
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        //the same feature is already set
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        if(id !=-1 && id == _id_sift[index]) return ;
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        _id_sift[index] = id;
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        if(num > _max_sift) num = _max_sift;
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        _num_sift[index] = num; 
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        _texDes[index].InitTexture(8 * num, 1, 4);
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        _texDes[index].CopyFromHost((void*)descriptors);
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}
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void SiftMatchCU::SetDescriptors(int index, int num, const float* descriptors, int id)
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{        
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        if(_initialized == 0) return;
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        if (index > 1) index = 1;
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        if (index < 0) index = 0;
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        if(num > _max_sift) num = _max_sift;
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        sift_buffer.resize(num * 128 /4);
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        unsigned char * pub = (unsigned char*) &sift_buffer[0];
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        for(int i = 0; i < 128 * num; ++i)
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        {
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                pub[i] = int(512 * descriptors[i] + 0.5);
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        }
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        SetDescriptors(index, num, pub, id);
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}
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void SiftMatchCU::SetFeautreLocation(int index, const float* locations, int gap)
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{
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        if(_num_sift[index] <=0) return;
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        _texLoc[index].InitTexture(_num_sift[index], 1, 2);
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        if(gap == 0)
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        {
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                _texLoc[index].CopyFromHost(locations);
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        }else
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        {
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                sift_buffer.resize(_num_sift[index] * 2);
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                float* pbuf = (float*) (&sift_buffer[0]);
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                for(int i = 0; i < _num_sift[index]; ++i)
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                {
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                        pbuf[i*2] = *locations++;
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                        pbuf[i*2+1]= *locations ++;
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                        locations += gap;
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                }
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                _texLoc[index].CopyFromHost(pbuf);
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        }
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        _have_loc[index] = 1;
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}
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int  SiftMatchCU::GetGuidedSiftMatch(int max_match, int match_buffer[][2], float H[3][3], float F[3][3],
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                                                                         float distmax, float ratiomax, float hdistmax, float fdistmax, int mbm)
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{
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        if(_initialized ==0) return 0;
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        if(_num_sift[0] <= 0 || _num_sift[1] <=0) return 0;
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        if(_have_loc[0] == 0 || _have_loc[1] == 0) return 0;
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        ProgramCU::MultiplyDescriptorG(_texDes, _texDes+1, _texLoc, _texLoc + 1,
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                &_texDot, (mbm? &_texCRT: NULL), H, hdistmax, F, fdistmax);
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        return GetBestMatch(max_match, match_buffer, distmax, ratiomax, mbm);
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}
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int  SiftMatchCU::GetSiftMatch(int max_match, int match_buffer[][2], float distmax, float ratiomax, int mbm)
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{
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        if(_initialized ==0) return 0;
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        if(_num_sift[0] <= 0 || _num_sift[1] <=0) return 0;
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        ProgramCU::MultiplyDescriptor(_texDes, _texDes + 1, &_texDot, (mbm? &_texCRT: NULL));
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        return GetBestMatch(max_match, match_buffer, distmax, ratiomax, mbm);
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}
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int SiftMatchCU::GetBestMatch(int max_match, int match_buffer[][2], float distmax, float ratiomax, int mbm)
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{
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        sift_buffer.resize(_num_sift[0] + _num_sift[1]);
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        int * buffer1 =  (int*) &sift_buffer[0], * buffer2 = (int*) &sift_buffer[_num_sift[0]];
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        _texMatch[0].InitTexture(_num_sift[0], 1);
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        ProgramCU::GetRowMatch(&_texDot, _texMatch, distmax, ratiomax);
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        _texMatch[0].CopyToHost(buffer1);
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        if(mbm)
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        {
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                _texMatch[1].InitTexture(_num_sift[1], 1);
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                ProgramCU::GetColMatch(&_texCRT, _texMatch + 1, distmax, ratiomax);
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                _texMatch[1].CopyToHost(buffer2);
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        }
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        int nmatch = 0, j ;
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        for(int i = 0; i < _num_sift[0] && nmatch < max_match; ++i)
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        {
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                j = int(buffer1[i]);
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                if( j>= 0 && (!mbm ||int(buffer2[j]) == i))
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                {
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                        match_buffer[nmatch][0] = i;
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                        match_buffer[nmatch][1] = j;
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                        nmatch++;
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                }
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        }
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        return nmatch;
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}
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#endif
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