root / rgbdslam / external / siftgpu / src / SiftGPU / SiftMatchCU.cpp @ 9240aaa3
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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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