Quadrotor

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

//        File:                GLTexImage.h

//        Author:                Changchang Wu

//        Description : interface for the GLTexImage class.

//                GLTexImage:                naive texture class. 

//                                                sevral different quad drawing functions are provied

//                GLTexPacked:        packed version (four value packed as four channels of a pixel)

//                GLTexInput:                GLTexImage + some input information

//

//        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 GL_TEX_IMAGE_H

#define GL_TEX_IMAGE_H

class GlobalUtil;

class GLTexImage :public GlobalUtil 

{        

protected:

        GLuint        _texID;

        int                _imgWidth;

        int                _imgHeight;

        int                _texWidth;

        int                _texHeight;

        int                _drawWidth;

        int                _drawHeight;

public:

        static void DetachFBO(int i);

        static void UnbindTex();

        static void UnbindMultiTex(int n);

        static void DrawQuad(float x1, float x2, float y1, float y2);

public:

        virtual void DrawQuadUS(int scale);

        virtual void DrawQuadDS(int scale);

        virtual void DrawImage();

        virtual void TexConvertRGB();

        virtual void ZeroHistoMargin();

        virtual void SetImageSize(int width, int height);

        virtual void InitTexture(int width, int height, int clamp_to_edge =1 );

        void InitTexture(int width, int height, int clamp_to_edge, GLuint format);

        virtual void FillMargin(int marginx, int marginy);

public:

        void DrawScaledQuad(float scale);

        int  CopyToPBO(GLuint pbo, int width, int height, GLenum format = GL_RGBA);

        void CopyFromPBO(GLuint pbo, int width, int height, GLenum format = GL_RGBA);

        void FitRealTexViewPort();

        void DrawQuadMT8();

        void DrawQuadMT4();

        void DrawQuadReduction();

        void DrawQuadReduction(int w, int h);

        void DrawMargin(int right, int bottom);

        void DrawQuad();

        void FitTexViewPort();

        void ZeroHistoMargin(int hw, int hh);

        int  CheckTexture();

public:

        void AttachToFBO(int i );

        void BindTex();

        operator GLuint (){return _texID;}        

        GLuint GetTexID(){return _texID;}

        int        GetImgPixelCount(){return _imgWidth*_imgHeight;}

        int GetTexPixelCount(){return _texWidth*_texHeight;}

        int        GetImgWidth(){return _imgWidth;}

        int GetImgHeight(){return _imgHeight;}

        int        GetTexWidth(){return _texWidth;}

        int GetTexHeight(){return _texHeight;}

        int        GetDrawWidth(){return _drawWidth;}

        int GetDrawHeight(){return _drawHeight;}

        //int        IsTexTight(){return _texWidth == _drawWidth && _texHeight == _drawHeight;}

        int        IsTexPacked(){return _drawWidth != _imgWidth;}

        GLTexImage();

        virtual ~GLTexImage();

        friend class SiftGPU;

};

//class for handle data input, to support all openGL-supported data format, 

//data are first uploaded to an openGL texture then converted, and optionally

//when the datatype is simple, we downsample/convert on cpu

class GLTexInput:public GLTexImage

{

public:

        int      _down_sampled;

        int      _rgb_converted;

    int      _data_modified;

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

        float *        _converted_data;

    const void*    _pixel_data;

public:

        static int  IsSimpleGlFormat(unsigned int gl_format, unsigned int gl_type)

        {

                //the formats there is a cpu code to conver rgb and downsample

                 return (gl_format ==GL_LUMINANCE ||gl_format == GL_LUMINANCE_ALPHA||

                                gl_format == GL_RGB||        gl_format == GL_RGBA||

                                gl_format == GL_BGR || gl_format == GL_BGRA) && 

                                (gl_type == GL_UNSIGNED_BYTE || gl_type == GL_FLOAT || gl_type == GL_UNSIGNED_SHORT); 

        }

//in vc6, template member function doesn't work

#if !defined(_MSC_VER) || _MSC_VER > 1200

        template <class Uint> 

        static int DownSamplePixelDataI(unsigned int gl_format, int width, int height, 

                int ds, const Uint * pin, Uint * pout);

        template <class Uint> 

        static int DownSamplePixelDataI2F(unsigned int gl_format, int width, int height, 

                int ds, const Uint * pin, float * pout, int skip  = 0);

#endif

        static int DownSamplePixelDataF(unsigned int gl_format, int width, int height, 

                int ds, const float * pin, float * pout, int skip = 0);

    static int TruncateWidthCU(int w) {return  w & 0xfffffffc; }

public:

        GLTexInput() : _down_sampled(0), _rgb_converted(0), _data_modified(0), 

                    _converted_data(0), _pixel_data(0){}

        int SetImageData(int width, int height, const void * data, 

                                        unsigned int gl_format, unsigned int gl_type);

        int LoadImageFile(char * imagepath, int & w, int &h);

    void VerifyTexture();

    virtual ~GLTexInput();

};

//GLTexPacked doesn't have any data

//so that we can use the GLTexImage* pointer to index a GLTexPacked Vector

class GLTexPacked:public GLTexImage

{

public:

        virtual void        DrawImage();

        virtual void        DrawQuadUS(int scale);

        virtual void        DrawQuadDS(int scale);

        virtual void        FillMargin(int marginx, int marginy);

        virtual void        InitTexture(int width, int height, int clamp_to_edge =1);

        virtual void        TexConvertRGB();

        virtual void        SetImageSize(int width, int height);

        virtual void        ZeroHistoMargin();

        //virtual void        GetHistWH(int& w, int& h){return w = (3 + sz)>>1;}

public:

        void        DrawMargin(int right, int bottom, int mx, int my);

        GLTexPacked():GLTexImage(){}

};

#endif // !defined(GL_TEX_IMAGE_H)