Quadrotor

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

//        File:                SiftMatchCU.h

//        Author:                Changchang Wu

//        Description :        interface for the SiftMatchCU

////

//        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 CU_SIFT_MATCH_H

#define CU_SIFT_MATCH_H

#if defined(CUDA_SIFTGPU_ENABLED)

class CuTexImage;

class SiftMatchCU:public SiftMatchGPU

{

private:

        //tex storage

        CuTexImage _texLoc[2];

        CuTexImage _texDes[2];

        CuTexImage _texDot;

        CuTexImage _texMatch[2];

        CuTexImage _texCRT;

        //programs

        //

        int _max_sift; 

        int _num_sift[2];

        int _id_sift[2];

        int _have_loc[2];

        //gpu parameter

        int _initialized;

        vector<int> sift_buffer; 

private:

        int  GetBestMatch(int max_match, int match_buffer[][2], float distmax, float ratiomax, int mbm);

public:

        SiftMatchCU(int max_sift);

        virtual ~SiftMatchCU(){};

        void InitSiftMatch();

        void SetMaxSift(int max_sift);

        void SetDescriptors(int index, int num, const unsigned char * descriptor, int id = -1);

        void SetDescriptors(int index, int num, const float * descriptor, int id = -1);

        void SetFeautreLocation(int index, const float* locatoins, int gap);

        int  GetSiftMatch(int max_match, int match_buffer[][2], float distmax, float ratiomax, int mbm);

        int  GetGuidedSiftMatch(int max_match, int match_buffer[][2], float H[3][3], float F[3][3],

                                                                         float distmax, float ratiomax, float hdistmax, float fdistmax, int mbm);

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

    static int  CheckCudaDevice(int device);

};

#endif

#endif