Quadrotor

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

//        File:                GlobalUtil.h

//        Author:                Changchang Wu

//        Description : 

//                GlobalParam:        Global parameters

//                ClockTimer:                Timer 

//                GlobalUtil:                Global Function wrapper

//

//        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 _GLOBAL_UTILITY_H

#define _GLOBAL_UTILITY_H

//wrapper for some shader function

//class ProgramGPU;

class LiteWindow;

class GlobalParam

{

public:

        static GLuint        _texTarget;

        static GLuint   _iTexFormat;

        static int                _texMaxDim;

        static int                _texMaxDimGL; 

    static int      _texMinDim;

        static int                _verbose;

        static int                _timingS;

        static int                _timingO;

        static int                _timingL;

        static int                _usePackedTex;

        static int                _BetaFilter;

        static int                _IsNvidia;

        static int                _UseCUDA;

    static int      _UseOpenCL;

        static int                _UseDynamicIndexing; 

        static int                _debug;

        static int                _MaxFilterWidth;

        static float        _FilterWidthFactor;

        static float    _OrientationWindowFactor;

        static float        _DescriptorWindowFactor; 

        static int                _MaxOrientation;

        static int      _OrientationPack2;

        static int                _ListGenGPU;

        static int                _ListGenSkipGPU;

        static int                _SupportNVFloat;

        static int                _SupportTextureRG;

        static int                _FullSupported;

        static float        _MaxFeaturePercent;

        static int                _MaxLevelFeatureNum;

        static int                _DescriptorPPR; 

        static int                _DescriptorPPT; //pixel per texture for one descriptor

        static int                _FeatureTexBlock;

        static int                _NarrowFeatureTex; //implemented but no performance improvement

        static int                _SubpixelLocalization;

        static int                _ProcessOBO; //not implemented yet

    static int      _TruncateMethod;

        static int                _PreciseBorder; //implemented

        static int                _UseSiftGPUEX;

        static int                _ForceTightPyramid;

        static int                _octave_min_default;

        static int                _octave_num_default;

        static int                _InitPyramidWidth;

        static int                _InitPyramidHeight;

        static int                _PreProcessOnCPU;

        static int                _GoodOpenGL;

        static int                _FixedOrientation;

        static int                _LoweOrigin;

        static int                _ExitAfterSIFT; 

        static int                _NormalizedSIFT;

        static int                _BinarySIFT;

        static int                _KeepExtremumSign;

        static int                _FeatureCountThreshold;

    static int      _KeyPointListForceLevel0;

        //for compatable with old version:

        static float        _OrientationExtraFactor;

        static float        _OrientationGaussianFactor;

        static float    _MulitiOrientationThreshold;

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

        static int                                _WindowInitX;

        static int                                _WindowInitY;

        static const char*                _WindowDisplay;

    static int              _DeviceIndex; 

};

class ClockTimer

{

private:

        char _current_event[256];

        int  _time_start;

        int  _time_stop;

public:

        static int          ClockMS();

        static double CLOCK();

        static void          InitHighResolution();

        void StopTimer(int verb = 1);

        void StartTimer(const char * event, int verb=0);

        float  GetElapsedTime();

};

class GlobalUtil:public GlobalParam

{

    static ClockTimer _globalTimer;                             

public:

        inline static double CLOCK()                                {        return ClockTimer::CLOCK();                        }

        inline static void StopTimer()                                {        _globalTimer.StopTimer(_timingS);                        }

        inline static void StartTimer(const char * event)        {        _globalTimer.StartTimer(event, _timingO);        }

        inline static float GetElapsedTime()                {        return _globalTimer.GetElapsedTime();                }

        static void FitViewPort(int width, int height);

        static void SetTextureParameter();

        static void SetTextureParameterUS();

#ifdef _DEBUG

        static void CheckErrorsGL(const char* location = NULL);

#else

        static void inline CheckErrorsGL(const char* location = NULL){};

#endif

        static bool CheckFramebufferStatus();

        //initialize Opengl parameters

        static void InitGLParam(int NotTargetGL = 0);

        static void SetGLParam();

        static int  CreateWindowEZ();

        static void CleanupOpenGL();

    static void SetDeviceParam(int argc, char** argv);

    static int  CreateWindowEZ(LiteWindow* window);

};

#if defined(_MSC_VER) && _MSC_VER == 1200

#define max(a,b)    (((a) > (b)) ? (a) : (b))

#define min(a,b)    (((a) < (b)) ? (a) : (b))

#endif

#endif