Quadrotor

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

//        File:                ProgramCG.h

//        Author:                Changchang Wu

//        Description :        interface for the ProgramCG classes.

//                ProgramCG:                Cg programs

//                ShaderBagCG:        All Cg shaders for Sift in a bag

//                FilterGLCG:                Cg Gaussian Filters

//

//        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

//

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

#if defined(CG_SIFTGPU_ENABLED) 

#ifndef _PROGRAM_CG_H

#define _PROGRAM_CG_H

#include "ProgramGPU.h"

class FragmentProgram;

#include "Cg/cgGL.h"

class ProgramCG:public ProgramGPU  

{

        CGprogram                  _programID; 

        CGprofile                  _profile;

        int                                  _valid;

public:

        static CGcontext _Context;

        static CGprofile _FProfile;        

public:

        operator CGprogram (){return _programID;}

        CGprogram GetProgramID(){return _programID;}

        int UseProgram();

        int IsValidProgram(){return _programID && _valid;}

        static void  ErrorCallback();

        static void InitContext();

        static void DestroyContext();

        ProgramCG(const char * code, const char** cg_compile_args= NULL, CGprofile profile = ProgramCG::_FProfile);

        ProgramCG();

        virtual ~ProgramCG();

};

class ShaderBagCG:public ShaderBag

{

        CGparameter _param_dog_texu;

        CGparameter        _param_dog_texd;

        CGparameter _param_genlist_start_tex0;

        CGparameter _param_ftex_width;

        CGparameter _param_genlist_step_tex;

        CGparameter _param_genlist_step_tex0;

        CGparameter _param_genvbo_size;

        CGparameter _param_orientation_gtex;

        CGparameter _param_orientation_stex;

        CGparameter _param_orientation_size;

        CGparameter _param_descriptor_gtex;

        CGparameter _param_descriptor_size;

        CGparameter _param_descriptor_dsize;

        CGparameter _param_margin_copy_truncate;

        CGparameter _param_genlist_init_bbox;

public:

        virtual void LoadDescriptorShader();

        void        LoadDescriptorShaderF2();

        static void  WriteOrientationCodeToStream(ostream& out);

        virtual void SetGenListInitParam(int w, int h);

        virtual void SetMarginCopyParam(int xmax, int ymax);

        virtual void SetFeatureOrientationParam(int gtex, int width, int height, float sigma, int stex = 0, float step = 1.0f);

        virtual void SetFeatureDescirptorParam(int gtex, int otex, float dwidth, float fwidth, float width, float height, float sigma);

        virtual void SetSimpleOrientationInput(int oTex, float sigma, float sigma_step);

        void LoadOrientationShader();

        virtual void SetGenListStartParam(float width, int tex0);

        static ProgramCG* LoadGenListStepShader(int start, int step);

        static ProgramCG* LoadGenListStepShaderV2(int start, int step);

        void LoadGenListShader(int ndoglev,  int nlev);

        virtual void UnloadProgram();

        virtual void SetDogTexParam(int texU, int texD);

        virtual void SetGenListStepParam(int tex, int tex0);

        virtual void SetGenVBOParam( float width, float fwidth,  float size);

        virtual void LoadFixedShaders();

        virtual void LoadDisplayShaders();

        virtual void LoadKeypointShader(float threshold, float edgeThreshold);

        virtual int  LoadKeypointShaderMR(float threshold, float edgeThreshold);

        ShaderBagCG();

        virtual ~ShaderBagCG(){}

};

class FilterGLCG : public FilterProgram

{

private:

        ProgramGPU* CreateFilterH(float kernel[], float offset[], int width);

        ProgramGPU* CreateFilterV(float kernel[], float offset[], int height);

        //packed version 

        ProgramGPU* CreateFilterHPK(float kernel[], float offset[], int width);

        ProgramGPU* CreateFilterVPK(float kernel[], float offset[], int height);

};

class ShaderBagPKCG:public ShaderBag

{

private:

        CGparameter _param_dog_texu;

        CGparameter        _param_dog_texd;

        CGparameter _param_margin_copy_truncate;

        CGparameter _param_grad_pass_texp;

        CGparameter _param_genlist_init_bbox;

        CGparameter _param_genlist_start_tex0;

        CGparameter _param_ftex_width;

        CGparameter _param_genlist_step_tex;

        CGparameter _param_genlist_step_tex0;

        CGparameter _param_genlist_end_ktex;

        CGparameter _param_genvbo_size;

        CGparameter _param_orientation_gtex;

        CGparameter _param_orientation_otex;

        CGparameter _param_orientation_size;

        CGparameter        _param_descriptor_gtex; 

        CGparameter        _param_descriptor_otex;

        CGparameter        _param_descriptor_size; 

        CGparameter        _param_descriptor_dsize;

public:

        ShaderBagPKCG();

        virtual ~ShaderBagPKCG(){}

        virtual void LoadDescriptorShader();

        virtual void LoadDescriptorShaderF2();

        virtual void LoadOrientationShader();

        virtual void LoadGenListShader(int ndoglev, int nlev);

        virtual void LoadGenListShaderV2(int ndoglev, int nlev);

        virtual void UnloadProgram() ;

        virtual void LoadKeypointShader(float threshold, float edgeTrheshold);

        virtual void LoadFixedShaders();

        virtual void LoadDisplayShaders();

        virtual void SetGradPassParam(int texP);

        virtual void SetGenListEndParam(int ktex);

public:

        //parameters

        virtual void SetGenListStartParam(float width, int tex0);

        virtual void SetGenListInitParam(int w, int h);

        virtual void SetMarginCopyParam(int xmax, int ymax);

        virtual void SetDogTexParam(int texU, int texD);

        virtual void SetGenListStepParam(int tex, int tex0);

        virtual void SetGenVBOParam( float width, float fwidth, float size);

        virtual void SetFeatureDescirptorParam(int gtex, int otex, float dwidth, float fwidth, float width, float height, float sigma);

        virtual void SetFeatureOrientationParam(int gtex, int width, int height, float sigma, int stex, float step);

        virtual void SetSimpleOrientationInput(int oTex, float sigma, float sigma_step);

};

#endif

#endif