root / rgbdslam / external / siftgpu / src / SiftGPU / PyramidGL.cpp @ 9240aaa3
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////////////////////////////////////////////////////////////////////////////
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// File: PyramidGL.cpp
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// Author: Changchang Wu
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// Description : implementation of PyramidGL/PyramidNaive/PyramidPackdc .
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//
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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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#include "GL/glew.h" |
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#include <iostream> |
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#include <iomanip> |
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#include <vector> |
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#include <algorithm> |
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#include <fstream> |
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#include <math.h> |
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#include <string.h> |
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using namespace std; |
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#include "GlobalUtil.h" |
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#include "GLTexImage.h" |
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#include "SiftGPU.h" |
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#include "ShaderMan.h" |
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#include "SiftPyramid.h" |
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#include "ProgramGLSL.h" |
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#include "PyramidGL.h" |
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#include "FrameBufferObject.h" |
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#if defined(__SSE__) || _MSC_VER > 1200 |
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#define USE_SSE_FOR_SIFTGPU
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#include <xmmintrin.h> |
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#else
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//#pragma message( "SSE optimization off!\n" )
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#endif
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#define USE_TIMING() double t, t0, tt; |
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#define OCTAVE_START() if(GlobalUtil::_timingO){ t = t0 = CLOCK(); cout<<"#"<<i+_down_sample_factor<<"\t"; } |
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#define LEVEL_FINISH() if(GlobalUtil::_timingL){ glFinish(); tt = CLOCK();cout<<(tt-t)<<"\t"; t = CLOCK();} |
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#define OCTAVE_FINISH() if(GlobalUtil::_timingO)cout<<"|\t"<<(CLOCK()-t0)<<endl; |
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//////////////////////////////////////////////////////////////////////
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// Construction/Destruction
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//////////////////////////////////////////////////////////////////////
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PyramidNaive::PyramidNaive(SiftParam& sp): PyramidGL(sp) |
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{ |
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_texPyramid = NULL;
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_auxPyramid = NULL;
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} |
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PyramidNaive::~PyramidNaive() |
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{ |
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DestroyPyramidData(); |
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} |
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//align must be 2^i
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void PyramidGL:: GetAlignedStorageSize(int num, int align, int &fw, int &fh) |
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{ |
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if(num <=0) |
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{ |
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fw = fh = 0;
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}else if(num < align*align) |
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{ |
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fw = align; |
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fh = (int)ceil(double(num) / fw); |
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}else if(GlobalUtil::_NarrowFeatureTex) |
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{ |
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double dn = double(num); |
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int nb = (int) ceil(dn/GlobalUtil::_texMaxDim/align); |
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fw = align * nb; |
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fh = (int)ceil(dn /fw);/**/ |
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}else
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{ |
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double dn = double(num); |
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int nb = (int) ceil(dn/GlobalUtil::_texMaxDim/align); |
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fh = align * nb; |
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if(nb <=1) |
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{ |
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fw = (int)ceil(dn / fh);
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//align this dimension to blocksize
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fw = ((int) ceil(double(fw) /align))*align; |
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}else
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{ |
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fw = GlobalUtil::_texMaxDim; |
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} |
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} |
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} |
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void PyramidGL::GetTextureStorageSize(int num, int &fw, int& fh) |
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{ |
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if(num <=0) |
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{ |
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fw = fh = 0;
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}else if(num <= GlobalUtil::_FeatureTexBlock) |
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{ |
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fw = num; |
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fh = 1;
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}else if(GlobalUtil::_NarrowFeatureTex) |
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{ |
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double dn = double(num); |
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int nb = (int) ceil(dn/GlobalUtil::_texMaxDim/GlobalUtil::_FeatureTexBlock); |
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fw = GlobalUtil::_FeatureTexBlock * nb; |
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fh = (int)ceil(dn /fw);/**/ |
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}else
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{ |
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double dn = double(num); |
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int nb = (int) ceil(dn/GlobalUtil::_texMaxDim/GlobalUtil::_FeatureTexBlock); |
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fh = GlobalUtil::_FeatureTexBlock * nb; |
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if(nb <=1) |
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{ |
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fw = (int)ceil(dn / fh);
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//align this dimension to blocksize
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//
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if( fw < fh)
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{ |
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int temp = fh;
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fh = fw; |
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fw = temp; |
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} |
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}else
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{ |
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fw = GlobalUtil::_texMaxDim; |
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} |
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} |
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} |
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void PyramidNaive::DestroyPyramidData()
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{ |
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if(_texPyramid)
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{ |
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delete [] _texPyramid;
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_texPyramid = NULL;
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} |
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if(_auxPyramid)
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{ |
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delete [] _auxPyramid;
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_auxPyramid = NULL;
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} |
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} |
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PyramidGL::PyramidGL(SiftParam &sp):SiftPyramid(sp) |
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{ |
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_featureTex = NULL;
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_orientationTex = NULL;
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_descriptorTex = NULL;
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_histoPyramidTex = NULL;
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//////////////////////////
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InitializeContext(); |
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} |
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PyramidGL::~PyramidGL() |
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{ |
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DestroyPerLevelData(); |
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DestroySharedData(); |
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ShaderMan::DestroyShaders(); |
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} |
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void PyramidGL::InitializeContext()
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{ |
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GlobalUtil::InitGLParam(0);
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if(!GlobalUtil::_GoodOpenGL) return; |
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//////////////////////////////////////////////
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ShaderMan::InitShaderMan(param); |
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} |
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void PyramidGL::DestroyPerLevelData()
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{ |
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//integers vector to store the feature numbers.
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if(_levelFeatureNum)
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{ |
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delete [] _levelFeatureNum;
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_levelFeatureNum = NULL;
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} |
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//texture used to store features
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if( _featureTex)
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{ |
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delete [] _featureTex;
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_featureTex = NULL;
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} |
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//texture used for multi-orientation
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if(_orientationTex)
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{ |
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delete [] _orientationTex;
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_orientationTex = NULL;
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} |
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int no = _octave_num* param._dog_level_num;
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//two sets of vbos used to display the features
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if(_featureDisplayVBO)
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{ |
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glDeleteBuffers(no, _featureDisplayVBO); |
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delete [] _featureDisplayVBO;
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_featureDisplayVBO = NULL;
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} |
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if( _featurePointVBO)
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{ |
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glDeleteBuffers(no, _featurePointVBO); |
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delete [] _featurePointVBO;
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_featurePointVBO = NULL;
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} |
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} |
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void PyramidGL::DestroySharedData()
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{ |
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//histogram reduction
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if(_histoPyramidTex)
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{ |
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delete[] _histoPyramidTex;
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_hpLevelNum = 0;
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_histoPyramidTex = NULL;
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} |
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//descriptor storage shared by all levels
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if(_descriptorTex)
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{ |
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delete [] _descriptorTex;
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_descriptorTex = NULL;
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} |
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//cpu reduction buffer.
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if(_histo_buffer)
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{ |
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delete[] _histo_buffer;
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_histo_buffer = 0;
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} |
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} |
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void PyramidNaive::FitHistogramPyramid()
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{ |
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GLTexImage * tex, *htex; |
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int hist_level_num = _hpLevelNum - _pyramid_octave_first;
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tex = GetBaseLevel(_octave_min , DATA_KEYPOINT) + 2;
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htex = _histoPyramidTex + hist_level_num - 1;
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int w = tex->GetImgWidth() >> 1; |
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int h = tex->GetImgHeight() >> 1; |
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for(int k = 0; k <hist_level_num -1; k++, htex--) |
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{ |
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if(htex->GetImgHeight()!= h || htex->GetImgWidth() != w)
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{ |
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htex->SetImageSize(w, h); |
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htex->ZeroHistoMargin(); |
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} |
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w = (w + 1)>>1; h = (h + 1) >> 1; |
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} |
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} |
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void PyramidNaive::FitPyramid(int w, int h) |
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{ |
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//(w, h) <= (_pyramid_width, _pyramid_height);
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_pyramid_octave_first = 0;
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//
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_octave_num = GlobalUtil::_octave_num_default; |
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int _octave_num_max = GetRequiredOctaveNum(min(w, h));
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if(_octave_num < 1 || _octave_num > _octave_num_max) |
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{ |
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_octave_num = _octave_num_max; |
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} |
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int pw = _pyramid_width>>1, ph = _pyramid_height>>1; |
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while(_pyramid_octave_first + _octave_num < _pyramid_octave_num &&
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pw >= w && ph >= h) |
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{ |
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_pyramid_octave_first++; |
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pw >>= 1;
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ph >>= 1;
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} |
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for(int i = 0; i < _octave_num; i++) |
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{ |
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GLTexImage * tex = GetBaseLevel(i + _octave_min); |
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GLTexImage * aux = GetBaseLevel(i + _octave_min, DATA_KEYPOINT); |
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for(int j = param._level_min; j <= param._level_max; j++, tex++, aux++) |
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{ |
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tex->SetImageSize(w, h); |
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aux->SetImageSize(w, h); |
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} |
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w>>=1;
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h>>=1;
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} |
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} |
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void PyramidNaive::InitPyramid(int w, int h, int ds) |
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{ |
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int wp, hp, toobig = 0; |
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if(ds == 0) |
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{ |
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_down_sample_factor = 0;
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if(GlobalUtil::_octave_min_default>=0) |
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{ |
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wp = w >> GlobalUtil::_octave_min_default; |
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hp = h >> GlobalUtil::_octave_min_default; |
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}else
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{ |
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wp = w << (-GlobalUtil::_octave_min_default); |
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hp = h << (-GlobalUtil::_octave_min_default); |
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} |
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_octave_min = _octave_min_default; |
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}else
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{ |
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//must use 0 as _octave_min;
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_octave_min = 0;
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_down_sample_factor = ds; |
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w >>= ds; |
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h >>= ds; |
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wp = w; |
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hp = h; |
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} |
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while(wp > GlobalUtil::_texMaxDim || hp > GlobalUtil::_texMaxDim)
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{ |
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_octave_min ++; |
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wp >>= 1;
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hp >>= 1;
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toobig = 1;
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} |
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if(toobig && GlobalUtil::_verbose && _octave_min > 0) |
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{ |
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std::cout<< "**************************************************************\n"
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"Image larger than allowed dimension, data will be downsampled!\n"
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"use -maxd to change the settings\n"
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"***************************************************************\n";
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} |
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if( wp == _pyramid_width && hp == _pyramid_height && _allocated )
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{ |
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FitPyramid(wp, hp); |
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}else if(GlobalUtil::_ForceTightPyramid || _allocated ==0) |
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{ |
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ResizePyramid(wp, hp); |
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} |
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else if( wp > _pyramid_width || hp > _pyramid_height ) |
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{ |
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ResizePyramid(max(wp, _pyramid_width), max(hp, _pyramid_height)); |
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if(wp < _pyramid_width || hp < _pyramid_height) FitPyramid(wp, hp);
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} |
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else
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{ |
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//try use the pyramid allocated for large image on small input images
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FitPyramid(wp, hp); |
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} |
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//select the initial smoothing filter according to the new _octave_min
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ShaderMan::SelectInitialSmoothingFilter(_octave_min + _down_sample_factor, param); |
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} |
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void PyramidNaive::ResizePyramid( int w, int h) |
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{ |
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//
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unsigned int totalkb = 0; |
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int _octave_num_new, input_sz;
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int i, j;
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GLTexImage * tex, *aux; |
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//
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if(_pyramid_width == w && _pyramid_height == h && _allocated) return; |
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if(w > GlobalUtil::_texMaxDim || h > GlobalUtil::_texMaxDim) return ; |
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if(GlobalUtil::_verbose && GlobalUtil::_timingS) std::cout<<"[Allocate Pyramid]:\t" <<w<<"x"<<h<<endl; |
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//first octave does not change
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_pyramid_octave_first = 0;
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//compute # of octaves
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input_sz = min(w,h) ; |
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_pyramid_width = w; |
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_pyramid_height = h; |
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//reset to preset parameters
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_octave_num_new = GlobalUtil::_octave_num_default; |
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if(_octave_num_new < 1) _octave_num_new = GetRequiredOctaveNum(input_sz) ; |
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if(_pyramid_octave_num != _octave_num_new)
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{ |
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//destroy the original pyramid if the # of octave changes
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if(_octave_num >0) |
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{ |
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DestroyPerLevelData(); |
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DestroyPyramidData(); |
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} |
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_pyramid_octave_num = _octave_num_new; |
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} |
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_octave_num = _pyramid_octave_num; |
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int noct = _octave_num;
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int nlev = param._level_num;
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// //initialize the pyramid
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if(_texPyramid==NULL) _texPyramid = new GLTexImage[ noct* nlev ]; |
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if(_auxPyramid==NULL) _auxPyramid = new GLTexImage[ noct* nlev ]; |
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tex = GetBaseLevel(_octave_min, DATA_GAUSSIAN); |
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aux = GetBaseLevel(_octave_min, DATA_KEYPOINT); |
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for(i = 0; i< noct; i++) |
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{ |
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totalkb += (nlev * w * h * 16 / 1024); |
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for( j = 0; j< nlev; j++, tex++) |
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{ |
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tex->InitTexture(w, h); |
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//tex->AttachToFBO(0);
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} |
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//several auxilary textures are not actually required
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totalkb += ((nlev - 3) * w * h * 16 /1024); |
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for( j = 0; j< nlev ; j++, aux++) |
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{ |
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if(j < 2) continue; |
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if(j >= nlev - 1) continue; |
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aux->InitTexture(w, h, 0);
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//aux->AttachToFBO(0);
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} |
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w>>=1;
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h>>=1;
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} |
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totalkb += ResizeFeatureStorage(); |
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//
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_allocated = 1;
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if(GlobalUtil::_verbose && GlobalUtil::_timingS) std::cout<<"[Allocate Pyramid]:\t" <<(totalkb/1024)<<"MB\n"; |
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} |
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int PyramidGL::ResizeFeatureStorage()
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{ |
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int totalkb = 0; |
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if(_levelFeatureNum==NULL) _levelFeatureNum = new int[_octave_num * param._dog_level_num]; |
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std::fill(_levelFeatureNum, _levelFeatureNum+_octave_num * param._dog_level_num, 0);
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int wmax = GetBaseLevel(_octave_min)->GetDrawWidth();
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int hmax = GetBaseLevel(_octave_min)->GetDrawHeight();
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int w ,h, i;
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//use a fbo to initialize textures..
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FrameBufferObject fbo; |
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//
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if(_histo_buffer == NULL) _histo_buffer = new float[1 << (2 + 2 * GlobalUtil::_ListGenSkipGPU)]; |
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//histogram for feature detection
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int num = (int)ceil(log(double(max(wmax, hmax)))/log(2.0)); |
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if( _hpLevelNum != num)
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{ |
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_hpLevelNum = num; |
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if(GlobalUtil::_ListGenGPU)
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{ |
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if(_histoPyramidTex ) delete [] _histoPyramidTex; |
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_histoPyramidTex = new GLTexImage[_hpLevelNum];
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w = h = 1 ;
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for(i = 0; i < _hpLevelNum; i++) |
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{ |
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_histoPyramidTex[i].InitTexture(w, h, 0);
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_histoPyramidTex[i].AttachToFBO(0);
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w<<=1;
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h<<=1;
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} |
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} |
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} |
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// (4 ^ (_hpLevelNum) -1 / 3) pixels
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if(GlobalUtil::_ListGenGPU) totalkb += (((1 << (2 * _hpLevelNum)) -1) / 3 * 16 / 1024); |
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//initialize the feature texture
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int idx = 0, n = _octave_num * param._dog_level_num; |
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if(_featureTex==NULL) _featureTex = new GLTexImage[n]; |
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if(GlobalUtil::_MaxOrientation >1 && GlobalUtil::_OrientationPack2==0) |
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{ |
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if(_orientationTex== NULL) _orientationTex = new GLTexImage[n]; |
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} |
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for(i = 0; i < _octave_num; i++) |
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{ |
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GLTexImage * tex = GetBaseLevel(i+_octave_min); |
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int fmax = int(tex->GetImgWidth()*tex->GetImgHeight()*GlobalUtil::_MaxFeaturePercent); |
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int fw, fh;
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//
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if(fmax > GlobalUtil::_MaxLevelFeatureNum) fmax = GlobalUtil::_MaxLevelFeatureNum;
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else if(fmax < 32) fmax = 32; //give it at least a space of 32 feature |
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GetTextureStorageSize(fmax, fw, fh); |
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for(int j = 0; j < param._dog_level_num; j++, idx++) |
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{ |
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_featureTex[idx].InitTexture(fw, fh, 0);
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_featureTex[idx].AttachToFBO(0);
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//
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if(_orientationTex)
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{ |
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_orientationTex[idx].InitTexture(fw, fh, 0);
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_orientationTex[idx].AttachToFBO(0);
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} |
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} |
538 |
totalkb += fw * fh * 16 * param._dog_level_num * (_orientationTex? 2 : 1) /1024; |
539 |
} |
540 |
|
541 |
|
542 |
//this just need be initialized once
|
543 |
if(_descriptorTex==NULL) |
544 |
{ |
545 |
//initialize feature texture pyramid
|
546 |
wmax = _featureTex->GetImgWidth(); |
547 |
hmax = _featureTex->GetImgHeight(); |
548 |
|
549 |
int nf, ns;
|
550 |
if(GlobalUtil::_DescriptorPPT)
|
551 |
{ |
552 |
//32*4 = 128.
|
553 |
nf = 32 / GlobalUtil::_DescriptorPPT; // how many textures we need |
554 |
ns = max(4, GlobalUtil::_DescriptorPPT); // how many point in one texture for one descriptor |
555 |
}else
|
556 |
{ |
557 |
//at least one, resue for visualization and other work
|
558 |
nf = 1; ns = 4; |
559 |
} |
560 |
//
|
561 |
_alignment = ns; |
562 |
//
|
563 |
_descriptorTex = new GLTexImage[nf];
|
564 |
|
565 |
int fw, fh;
|
566 |
GetAlignedStorageSize(hmax*wmax* max(ns, 10), _alignment, fw, fh);
|
567 |
|
568 |
if(fh < hmax ) fh = hmax;
|
569 |
if(fw < wmax ) fw = wmax;
|
570 |
|
571 |
totalkb += ( fw * fh * nf * 16 /1024); |
572 |
for(i =0; i < nf; i++) |
573 |
{ |
574 |
_descriptorTex[i].InitTexture(fw, fh); |
575 |
} |
576 |
}else
|
577 |
{ |
578 |
int nf = GlobalUtil::_DescriptorPPT? 32 / GlobalUtil::_DescriptorPPT: 1; |
579 |
totalkb += nf * _descriptorTex[0].GetTexWidth() * _descriptorTex[0].GetTexHeight() * 16 /1024; |
580 |
} |
581 |
return totalkb;
|
582 |
} |
583 |
|
584 |
|
585 |
void PyramidNaive::BuildPyramid(GLTexInput *input)
|
586 |
{ |
587 |
USE_TIMING(); |
588 |
GLTexPacked * tex; |
589 |
FilterProgram** filter; |
590 |
FrameBufferObject fbo; |
591 |
|
592 |
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
593 |
input->FitTexViewPort(); |
594 |
|
595 |
for (int i = _octave_min; i < _octave_min + _octave_num; i++) |
596 |
{ |
597 |
|
598 |
tex = (GLTexPacked*)GetBaseLevel(i); |
599 |
filter = ShaderMan::s_bag->f_gaussian_step; |
600 |
|
601 |
OCTAVE_START(); |
602 |
|
603 |
if( i == _octave_min )
|
604 |
{ |
605 |
if(i < 0) TextureUpSample(tex, input, 1<<(-i) ); |
606 |
else TextureDownSample(tex, input, 1<<i); |
607 |
ShaderMan::FilterInitialImage(tex, NULL);
|
608 |
}else
|
609 |
{ |
610 |
TextureDownSample(tex, GetLevelTexture(i-1, param._level_ds));
|
611 |
ShaderMan::FilterSampledImage(tex, NULL);
|
612 |
} |
613 |
LEVEL_FINISH(); |
614 |
|
615 |
for(int j = param._level_min + 1; j <= param._level_max ; j++, tex++, filter++) |
616 |
{ |
617 |
// filtering
|
618 |
ShaderMan::FilterImage(*filter, tex+1, tex, NULL); |
619 |
LEVEL_FINISH(); |
620 |
} |
621 |
OCTAVE_FINISH(); |
622 |
|
623 |
} |
624 |
if(GlobalUtil::_timingS) glFinish();
|
625 |
UnloadProgram(); |
626 |
} |
627 |
|
628 |
|
629 |
|
630 |
|
631 |
|
632 |
|
633 |
GLTexImage* PyramidNaive::GetLevelTexture(int octave, int level, int dataName) |
634 |
{ |
635 |
if(octave <_octave_min || octave > _octave_min + _octave_num) return NULL; |
636 |
switch(dataName)
|
637 |
{ |
638 |
case DATA_GAUSSIAN:
|
639 |
case DATA_DOG:
|
640 |
case DATA_GRAD:
|
641 |
case DATA_ROT:
|
642 |
return _texPyramid+ (_pyramid_octave_first + octave - _octave_min) * param._level_num + (level - param._level_min);
|
643 |
case DATA_KEYPOINT:
|
644 |
return _auxPyramid + (_pyramid_octave_first + octave - _octave_min) * param._level_num + (level - param._level_min);
|
645 |
default:
|
646 |
return NULL; |
647 |
} |
648 |
} |
649 |
|
650 |
GLTexImage* PyramidNaive::GetLevelTexture(int octave, int level) |
651 |
{ |
652 |
return _texPyramid+ (_pyramid_octave_first + octave - _octave_min) * param._level_num
|
653 |
+ (level - param._level_min); |
654 |
} |
655 |
|
656 |
//in the packed implementation
|
657 |
// DATA_GAUSSIAN, DATA_DOG, DATA_GAD will be stored in different textures.
|
658 |
GLTexImage* PyramidNaive::GetBaseLevel(int octave, int dataName) |
659 |
{ |
660 |
if(octave <_octave_min || octave > _octave_min + _octave_num) return NULL; |
661 |
switch(dataName)
|
662 |
{ |
663 |
case DATA_GAUSSIAN:
|
664 |
case DATA_DOG:
|
665 |
case DATA_GRAD:
|
666 |
case DATA_ROT:
|
667 |
return _texPyramid+ (_pyramid_octave_first + octave - _octave_min) * param._level_num;
|
668 |
case DATA_KEYPOINT:
|
669 |
return _auxPyramid + (_pyramid_octave_first + octave - _octave_min) * param._level_num;
|
670 |
default:
|
671 |
return NULL; |
672 |
} |
673 |
} |
674 |
|
675 |
|
676 |
|
677 |
|
678 |
|
679 |
|
680 |
|
681 |
|
682 |
|
683 |
void PyramidNaive::ComputeGradient()
|
684 |
{ |
685 |
|
686 |
int i, j;
|
687 |
double ts, t1;
|
688 |
GLTexImage * tex; |
689 |
FrameBufferObject fbo; |
690 |
|
691 |
|
692 |
if(GlobalUtil::_timingS && GlobalUtil::_verbose)ts = CLOCK();
|
693 |
|
694 |
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
695 |
|
696 |
for ( i = _octave_min; i < _octave_min + _octave_num; i++)
|
697 |
{ |
698 |
for( j = param._level_min + 1 ; j < param._level_max ; j++) |
699 |
{ |
700 |
tex = GetLevelTexture(i, j); |
701 |
tex->FitTexViewPort(); |
702 |
tex->AttachToFBO(0);
|
703 |
tex->BindTex(); |
704 |
ShaderMan::UseShaderGradientPass(); |
705 |
tex->DrawQuadMT4(); |
706 |
} |
707 |
} |
708 |
|
709 |
if(GlobalUtil::_timingS && GlobalUtil::_verbose)
|
710 |
{ |
711 |
glFinish(); |
712 |
t1 = CLOCK(); |
713 |
std::cout<<"<Compute Gradient>\t"<<(t1-ts)<<"\n"; |
714 |
} |
715 |
|
716 |
UnloadProgram(); |
717 |
GLTexImage::UnbindMultiTex(3);
|
718 |
fbo.UnattachTex(GL_COLOR_ATTACHMENT1_EXT); |
719 |
} |
720 |
|
721 |
|
722 |
//keypoint detection with subpixel localization
|
723 |
void PyramidNaive::DetectKeypointsEX()
|
724 |
{ |
725 |
int i, j;
|
726 |
double t0, t, ts, t1, t2;
|
727 |
GLTexImage * tex, *aux; |
728 |
FrameBufferObject fbo; |
729 |
|
730 |
if(GlobalUtil::_timingS && GlobalUtil::_verbose)ts = CLOCK();
|
731 |
|
732 |
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
733 |
//extra gradient data required for visualization
|
734 |
int gradient_only_levels[2] = {param._level_min +1, param._level_max}; |
735 |
int n_gradient_only_level = GlobalUtil::_UseSiftGPUEX ? 2 : 1; |
736 |
for ( i = _octave_min; i < _octave_min + _octave_num; i++)
|
737 |
{ |
738 |
for( j =0; j < n_gradient_only_level ; j++) |
739 |
{ |
740 |
tex = GetLevelTexture(i, gradient_only_levels[j]); |
741 |
tex->FitTexViewPort(); |
742 |
tex->AttachToFBO(0);
|
743 |
tex->BindTex(); |
744 |
ShaderMan::UseShaderGradientPass(); |
745 |
tex->DrawQuadMT4(); |
746 |
} |
747 |
} |
748 |
|
749 |
if(GlobalUtil::_timingS && GlobalUtil::_verbose)
|
750 |
{ |
751 |
glFinish(); |
752 |
t1 = CLOCK(); |
753 |
} |
754 |
|
755 |
GLenum buffers[] = { GL_COLOR_ATTACHMENT0_EXT, GL_COLOR_ATTACHMENT1_EXT }; |
756 |
glDrawBuffers(2, buffers);
|
757 |
for ( i = _octave_min; i < _octave_min + _octave_num; i++)
|
758 |
{ |
759 |
if(GlobalUtil::_timingO)
|
760 |
{ |
761 |
t0 = CLOCK(); |
762 |
std::cout<<"#"<<(i + _down_sample_factor)<<"\t"; |
763 |
} |
764 |
tex = GetBaseLevel(i) + 2;
|
765 |
aux = GetBaseLevel(i, DATA_KEYPOINT) +2;
|
766 |
aux->FitTexViewPort(); |
767 |
|
768 |
for( j = param._level_min + 2; j < param._level_max ; j++, aux++, tex++) |
769 |
{ |
770 |
if(GlobalUtil::_timingL)t = CLOCK();
|
771 |
tex->AttachToFBO(0);
|
772 |
aux->AttachToFBO(1);
|
773 |
glActiveTexture(GL_TEXTURE0); |
774 |
tex->BindTex(); |
775 |
glActiveTexture(GL_TEXTURE1); |
776 |
(tex+1)->BindTex();
|
777 |
glActiveTexture(GL_TEXTURE2); |
778 |
(tex-1)->BindTex();
|
779 |
ShaderMan::UseShaderKeypoint((tex+1)->GetTexID(), (tex-1)->GetTexID()); |
780 |
aux->DrawQuadMT8(); |
781 |
|
782 |
if(GlobalUtil::_timingL)
|
783 |
{ |
784 |
glFinish(); |
785 |
std::cout<<(CLOCK()-t)<<"\t";
|
786 |
} |
787 |
tex->DetachFBO(0);
|
788 |
aux->DetachFBO(1);
|
789 |
} |
790 |
if(GlobalUtil::_timingO)
|
791 |
{ |
792 |
std::cout<<"|\t"<<(CLOCK()-t0)<<"\n"; |
793 |
} |
794 |
} |
795 |
|
796 |
if(GlobalUtil::_timingS)
|
797 |
{ |
798 |
glFinish(); |
799 |
t2 = CLOCK(); |
800 |
if(GlobalUtil::_verbose)
|
801 |
std::cout <<"<Get Keypoints .. >\t"<<(t2-t1)<<"\n" |
802 |
<<"<Extra Gradient.. >\t"<<(t1-ts)<<"\n"; |
803 |
} |
804 |
UnloadProgram(); |
805 |
GLTexImage::UnbindMultiTex(3);
|
806 |
fbo.UnattachTex(GL_COLOR_ATTACHMENT1_EXT); |
807 |
|
808 |
|
809 |
} |
810 |
|
811 |
void PyramidNaive::GenerateFeatureList(int i, int j) |
812 |
{ |
813 |
int hist_level_num = _hpLevelNum - _pyramid_octave_first;
|
814 |
int hist_skip_gpu = GlobalUtil::_ListGenSkipGPU;
|
815 |
int idx = i * param._dog_level_num + j;
|
816 |
GLTexImage* htex, *ftex, *tex; |
817 |
tex = GetBaseLevel(_octave_min + i, DATA_KEYPOINT) + 2 + j;
|
818 |
ftex = _featureTex + idx; |
819 |
htex = _histoPyramidTex + hist_level_num - 1 - i;
|
820 |
|
821 |
///
|
822 |
glActiveTexture(GL_TEXTURE0); |
823 |
tex->BindTex(); |
824 |
htex->AttachToFBO(0);
|
825 |
int tight = ((htex->GetImgWidth() * 2 == tex->GetImgWidth() -1 || tex->GetTexWidth() == tex->GetImgWidth()) && |
826 |
(htex->GetImgHeight() *2 == tex->GetImgHeight()-1 || tex->GetTexHeight() == tex->GetImgHeight())); |
827 |
ShaderMan::UseShaderGenListInit(tex->GetImgWidth(), tex->GetImgHeight(), tight); |
828 |
htex->FitTexViewPort(); |
829 |
//this uses the fact that no feature is on the edge.
|
830 |
htex->DrawQuadReduction(); |
831 |
|
832 |
//reduction..
|
833 |
htex--; |
834 |
|
835 |
//this part might have problems on several GPUS
|
836 |
//because the output of one pass is the input of the next pass
|
837 |
//need to call glFinish to make it right
|
838 |
//but too much glFinish makes it slow
|
839 |
for(int k = 0; k <hist_level_num - i - 1 - hist_skip_gpu; k++, htex--) |
840 |
{ |
841 |
htex->AttachToFBO(0);
|
842 |
htex->FitTexViewPort(); |
843 |
(htex+1)->BindTex();
|
844 |
ShaderMan::UseShaderGenListHisto(); |
845 |
htex->DrawQuadReduction(); |
846 |
} |
847 |
|
848 |
//
|
849 |
if(hist_skip_gpu == 0) |
850 |
{ |
851 |
//read back one pixel
|
852 |
float fn[4], fcount; |
853 |
glReadPixels(0, 0, 1, 1, GL_RGBA , GL_FLOAT, fn); |
854 |
fcount = (fn[0] + fn[1] + fn[2] + fn[3]); |
855 |
if(fcount < 1) fcount = 0; |
856 |
|
857 |
|
858 |
_levelFeatureNum[ idx] = (int)(fcount);
|
859 |
SetLevelFeatureNum(idx, (int)fcount);
|
860 |
_featureNum += int(fcount);
|
861 |
|
862 |
//
|
863 |
if(fcount < 1.0) return; |
864 |
|
865 |
|
866 |
///generate the feature texture
|
867 |
|
868 |
htex= _histoPyramidTex; |
869 |
|
870 |
htex->BindTex(); |
871 |
|
872 |
//first pass
|
873 |
ftex->AttachToFBO(0);
|
874 |
if(GlobalUtil::_MaxOrientation>1) |
875 |
{ |
876 |
//this is very important...
|
877 |
ftex->FitRealTexViewPort(); |
878 |
glClear(GL_COLOR_BUFFER_BIT); |
879 |
glFinish(); |
880 |
}else
|
881 |
{ |
882 |
ftex->FitTexViewPort(); |
883 |
//glFinish();
|
884 |
} |
885 |
|
886 |
|
887 |
ShaderMan::UseShaderGenListStart((float)ftex->GetImgWidth(), htex->GetTexID());
|
888 |
|
889 |
ftex->DrawQuad(); |
890 |
//make sure it finishes before the next step
|
891 |
ftex->DetachFBO(0);
|
892 |
|
893 |
//pass on each pyramid level
|
894 |
htex++; |
895 |
}else
|
896 |
{ |
897 |
|
898 |
int tw = htex[1].GetDrawWidth(), th = htex[1].GetDrawHeight(); |
899 |
int fc = 0; |
900 |
glReadPixels(0, 0, tw, th, GL_RGBA , GL_FLOAT, _histo_buffer); |
901 |
_keypoint_buffer.resize(0);
|
902 |
for(int y = 0, pos = 0; y < th; y++) |
903 |
{ |
904 |
for(int x= 0; x < tw; x++) |
905 |
{ |
906 |
for(int c = 0; c < 4; c++, pos++) |
907 |
{ |
908 |
int ss = (int) _histo_buffer[pos]; |
909 |
if(ss == 0) continue; |
910 |
float ft[4] = {2 * x + (c%2? 1.5f: 0.5f), 2 * y + (c>=2? 1.5f: 0.5f), 0, 1 }; |
911 |
for(int t = 0; t < ss; t++) |
912 |
{ |
913 |
ft[2] = (float) t; |
914 |
_keypoint_buffer.insert(_keypoint_buffer.end(), ft, ft+4);
|
915 |
} |
916 |
fc += (int)ss;
|
917 |
} |
918 |
} |
919 |
} |
920 |
_levelFeatureNum[ idx] = fc; |
921 |
SetLevelFeatureNum(idx, fc); |
922 |
if(fc == 0) return; |
923 |
_featureNum += fc; |
924 |
/////////////////////
|
925 |
ftex->AttachToFBO(0);
|
926 |
if(GlobalUtil::_MaxOrientation>1) |
927 |
{ |
928 |
ftex->FitRealTexViewPort(); |
929 |
glClear(GL_COLOR_BUFFER_BIT); |
930 |
}else
|
931 |
{ |
932 |
ftex->FitTexViewPort(); |
933 |
} |
934 |
_keypoint_buffer.resize(ftex->GetDrawWidth() * ftex->GetDrawHeight()*4, 0); |
935 |
///////////
|
936 |
glActiveTexture(GL_TEXTURE0); |
937 |
ftex->BindTex(); |
938 |
glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, ftex->GetDrawWidth(), |
939 |
ftex->GetDrawHeight(), GL_RGBA, GL_FLOAT, &_keypoint_buffer[0]);
|
940 |
htex += 2;
|
941 |
} |
942 |
|
943 |
for(int lev = 1 + hist_skip_gpu; lev < hist_level_num - i; lev++, htex++) |
944 |
{ |
945 |
|
946 |
glActiveTexture(GL_TEXTURE0); |
947 |
ftex->BindTex(); |
948 |
ftex->AttachToFBO(0);
|
949 |
glActiveTexture(GL_TEXTURE1); |
950 |
htex->BindTex(); |
951 |
ShaderMan::UseShaderGenListStep(ftex->GetTexID(), htex->GetTexID()); |
952 |
ftex->DrawQuad(); |
953 |
ftex->DetachFBO(0);
|
954 |
} |
955 |
GLTexImage::UnbindMultiTex(2);
|
956 |
|
957 |
} |
958 |
|
959 |
//generate feature list on GPU
|
960 |
void PyramidNaive::GenerateFeatureList()
|
961 |
{ |
962 |
//generate the histogram0pyramid
|
963 |
FrameBufferObject fbo; |
964 |
glReadBuffer(GL_COLOR_ATTACHMENT0_EXT); |
965 |
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
966 |
double t1, t2;
|
967 |
int ocount, reverse = (GlobalUtil::_TruncateMethod == 1); |
968 |
_featureNum = 0;
|
969 |
|
970 |
FitHistogramPyramid(); |
971 |
|
972 |
//for(int i = 0, idx = 0; i < _octave_num; i++)
|
973 |
FOR_EACH_OCTAVE(i, reverse) |
974 |
{ |
975 |
//output
|
976 |
if(GlobalUtil::_timingO)
|
977 |
{ |
978 |
t1= CLOCK(); |
979 |
ocount = 0;
|
980 |
std::cout<<"#"<<i+_octave_min + _down_sample_factor<<":\t"; |
981 |
} |
982 |
//for(int j = 0; j < param._dog_level_num; j++, idx++)
|
983 |
FOR_EACH_LEVEL(j, reverse) |
984 |
{ |
985 |
if(GlobalUtil::_TruncateMethod && GlobalUtil::_FeatureCountThreshold > 0 && _featureNum > GlobalUtil::_FeatureCountThreshold) continue; |
986 |
|
987 |
GenerateFeatureList(i, j); |
988 |
if(GlobalUtil::_timingO)
|
989 |
{ |
990 |
int idx = i * param._dog_level_num + j;
|
991 |
std::cout<< _levelFeatureNum[idx] <<"\t";
|
992 |
ocount += _levelFeatureNum[idx]; |
993 |
} |
994 |
} |
995 |
if(GlobalUtil::_timingO)
|
996 |
{ |
997 |
t2 = CLOCK(); |
998 |
std::cout << "| \t" << int(ocount) << " :\t(" << (t2 - t1) << ")\n"; |
999 |
} |
1000 |
} |
1001 |
if(GlobalUtil::_timingS)glFinish();
|
1002 |
if(GlobalUtil::_verbose)
|
1003 |
{ |
1004 |
std::cout<<"#Features:\t"<<_featureNum<<"\n"; |
1005 |
} |
1006 |
} |
1007 |
|
1008 |
|
1009 |
void PyramidGL::GenerateFeatureDisplayVBO()
|
1010 |
{ |
1011 |
//use a big VBO to save all the SIFT box vertices
|
1012 |
int w, h, esize; GLint bsize;
|
1013 |
int nvbo = _octave_num * param._dog_level_num;
|
1014 |
//initialize the vbos
|
1015 |
if(_featureDisplayVBO==NULL) |
1016 |
{ |
1017 |
_featureDisplayVBO = new GLuint[nvbo];
|
1018 |
glGenBuffers( nvbo, _featureDisplayVBO ); |
1019 |
} |
1020 |
if(_featurePointVBO == NULL) |
1021 |
{ |
1022 |
_featurePointVBO = new GLuint[nvbo];
|
1023 |
glGenBuffers(nvbo, _featurePointVBO); |
1024 |
} |
1025 |
|
1026 |
FrameBufferObject fbo; |
1027 |
glReadBuffer(GL_COLOR_ATTACHMENT0_EXT); |
1028 |
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
1029 |
glActiveTexture(GL_TEXTURE0); |
1030 |
|
1031 |
//
|
1032 |
GLTexImage & tempTex = *_descriptorTex; |
1033 |
//
|
1034 |
for(int i = 0, idx = 0; i < _octave_num; i++) |
1035 |
{ |
1036 |
for(int j = 0; j < param._dog_level_num; j ++, idx++) |
1037 |
{ |
1038 |
GLTexImage * ftex = _featureTex + idx; |
1039 |
|
1040 |
if(_levelFeatureNum[idx]<=0)continue; |
1041 |
//box display vbo
|
1042 |
int count = _levelFeatureNum[idx]* 10; |
1043 |
GetAlignedStorageSize(count, _alignment, w, h); |
1044 |
w = (int)ceil(double(count)/ h); |
1045 |
|
1046 |
//input
|
1047 |
fbo.BindFBO(); |
1048 |
ftex->BindTex(); |
1049 |
|
1050 |
//output
|
1051 |
tempTex.AttachToFBO(0);
|
1052 |
GlobalUtil::FitViewPort(w, h); |
1053 |
//shader
|
1054 |
ShaderMan::UseShaderGenVBO( (float)ftex->GetImgWidth(), (float) w, |
1055 |
param.GetLevelSigma(j + param._level_min + 1));
|
1056 |
GLTexImage::DrawQuad(0, (float)w, 0, (float)h); |
1057 |
|
1058 |
//
|
1059 |
glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, _featureDisplayVBO[ idx]); |
1060 |
glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize); |
1061 |
esize = w*h * sizeof(float)*4; |
1062 |
//increase size when necessary
|
1063 |
if(bsize < esize) glBufferData(GL_PIXEL_PACK_BUFFER_ARB, esize*3/2, NULL, GL_STATIC_DRAW_ARB); |
1064 |
|
1065 |
//read back if we have enough buffer
|
1066 |
glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize); |
1067 |
if(bsize >= esize) glReadPixels(0, 0, w, h, GL_RGBA, GL_FLOAT, 0); |
1068 |
else glBufferData(GL_PIXEL_PACK_BUFFER_ARB, 0, NULL, GL_STATIC_DRAW_ARB); |
1069 |
glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, 0);
|
1070 |
|
1071 |
|
1072 |
//copy the texture into vbo
|
1073 |
fbo.BindFBO(); |
1074 |
tempTex.AttachToFBO(0);
|
1075 |
|
1076 |
ftex->BindTex(); |
1077 |
ftex->FitTexViewPort(); |
1078 |
ShaderMan::UseShaderCopyKeypoint(); |
1079 |
ftex->DrawQuad(); |
1080 |
|
1081 |
glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, _featurePointVBO[ idx]); |
1082 |
glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize); |
1083 |
esize = ftex->GetImgHeight() * ftex->GetImgWidth()*sizeof(float) *4; |
1084 |
|
1085 |
//increase size when necessary
|
1086 |
if(bsize < esize) glBufferData(GL_PIXEL_PACK_BUFFER_ARB, esize*3/2 , NULL, GL_STATIC_DRAW_ARB); |
1087 |
|
1088 |
//read back if we have enough buffer
|
1089 |
glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize); |
1090 |
if(bsize >= esize) glReadPixels(0, 0, ftex->GetImgWidth(), ftex->GetImgHeight(), GL_RGBA, GL_FLOAT, 0); |
1091 |
else glBufferData(GL_PIXEL_PACK_BUFFER_ARB, 0, NULL, GL_STATIC_DRAW_ARB); |
1092 |
|
1093 |
glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, 0);
|
1094 |
|
1095 |
} |
1096 |
} |
1097 |
glReadBuffer(GL_NONE); |
1098 |
glFinish(); |
1099 |
|
1100 |
} |
1101 |
|
1102 |
|
1103 |
|
1104 |
|
1105 |
|
1106 |
void PyramidNaive::GetFeatureOrientations()
|
1107 |
{ |
1108 |
GLTexImage * gtex; |
1109 |
GLTexImage * stex = NULL;
|
1110 |
GLTexImage * ftex = _featureTex; |
1111 |
GLTexImage * otex = _orientationTex; |
1112 |
int sid = 0; |
1113 |
int * count = _levelFeatureNum;
|
1114 |
float sigma, sigma_step = powf(2.0f, 1.0f/param._dog_level_num); |
1115 |
FrameBufferObject fbo; |
1116 |
if(_orientationTex)
|
1117 |
{ |
1118 |
GLenum buffers[] = { GL_COLOR_ATTACHMENT0_EXT, GL_COLOR_ATTACHMENT1_EXT }; |
1119 |
glDrawBuffers(2, buffers);
|
1120 |
}else
|
1121 |
{ |
1122 |
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
1123 |
} |
1124 |
for(int i = 0; i < _octave_num; i++) |
1125 |
{ |
1126 |
gtex = GetLevelTexture(i+_octave_min, param._level_min + 1);
|
1127 |
if(GlobalUtil::_SubpixelLocalization || GlobalUtil::_KeepExtremumSign)
|
1128 |
stex = GetBaseLevel(i+_octave_min, DATA_KEYPOINT) + 2;
|
1129 |
|
1130 |
for(int j = 0; j < param._dog_level_num; j++, ftex++, otex++, count++, gtex++, stex++) |
1131 |
{ |
1132 |
if(*count<=0)continue; |
1133 |
|
1134 |
sigma = param.GetLevelSigma(j+param._level_min+1);
|
1135 |
|
1136 |
//
|
1137 |
ftex->FitTexViewPort(); |
1138 |
|
1139 |
glActiveTexture(GL_TEXTURE0); |
1140 |
ftex->BindTex(); |
1141 |
glActiveTexture(GL_TEXTURE1); |
1142 |
gtex->BindTex(); |
1143 |
//
|
1144 |
ftex->AttachToFBO(0);
|
1145 |
if(_orientationTex) otex->AttachToFBO(1); |
1146 |
if(!_existing_keypoints && (GlobalUtil::_SubpixelLocalization|| GlobalUtil::_KeepExtremumSign))
|
1147 |
{ |
1148 |
glActiveTexture(GL_TEXTURE2); |
1149 |
stex->BindTex(); |
1150 |
sid = * stex; |
1151 |
} |
1152 |
ShaderMan::UseShaderOrientation(gtex->GetTexID(), |
1153 |
gtex->GetImgWidth(), gtex->GetImgHeight(), |
1154 |
sigma, sid, sigma_step, _existing_keypoints); |
1155 |
ftex->DrawQuad(); |
1156 |
// glFinish();
|
1157 |
|
1158 |
} |
1159 |
} |
1160 |
|
1161 |
GLTexImage::UnbindMultiTex(3);
|
1162 |
if(GlobalUtil::_timingS)glFinish();
|
1163 |
|
1164 |
if(_orientationTex) fbo.UnattachTex(GL_COLOR_ATTACHMENT1_EXT);
|
1165 |
|
1166 |
} |
1167 |
|
1168 |
|
1169 |
|
1170 |
//to compare with GPU feature list generation
|
1171 |
void PyramidNaive::GenerateFeatureListCPU()
|
1172 |
{ |
1173 |
|
1174 |
FrameBufferObject fbo; |
1175 |
_featureNum = 0;
|
1176 |
GLTexImage * tex = GetBaseLevel(_octave_min); |
1177 |
float * mem = new float [tex->GetTexWidth()*tex->GetTexHeight()]; |
1178 |
vector<float> list;
|
1179 |
int idx = 0; |
1180 |
for(int i = 0; i < _octave_num; i++) |
1181 |
{ |
1182 |
for(int j = 0; j < param._dog_level_num; j++, idx++) |
1183 |
{ |
1184 |
tex = GetBaseLevel(_octave_min + i, DATA_KEYPOINT) + j + 2;
|
1185 |
tex->BindTex(); |
1186 |
glGetTexImage(GlobalUtil::_texTarget, 0, GL_RED, GL_FLOAT, mem);
|
1187 |
//tex->AttachToFBO(0);
|
1188 |
//tex->FitTexViewPort();
|
1189 |
//glReadPixels(0, 0, tex->GetTexWidth(), tex->GetTexHeight(), GL_RED, GL_FLOAT, mem);
|
1190 |
//
|
1191 |
//make a list of
|
1192 |
list.resize(0);
|
1193 |
float * p = mem;
|
1194 |
int fcount = 0 ; |
1195 |
for(int k = 0; k < tex->GetTexHeight(); k++) |
1196 |
{ |
1197 |
for( int m = 0; m < tex->GetTexWidth(); m ++, p++) |
1198 |
{ |
1199 |
if(*p==0)continue; |
1200 |
if(m ==0 || k ==0 || k >= tex->GetImgHeight() -1 || m >= tex->GetImgWidth() -1 ) continue; |
1201 |
list.push_back(m+0.5f); |
1202 |
list.push_back(k+0.5f); |
1203 |
list.push_back(0);
|
1204 |
list.push_back(1);
|
1205 |
fcount ++; |
1206 |
|
1207 |
|
1208 |
} |
1209 |
} |
1210 |
if(fcount==0)continue; |
1211 |
|
1212 |
|
1213 |
|
1214 |
GLTexImage * ftex = _featureTex+idx; |
1215 |
_levelFeatureNum[idx] = (fcount); |
1216 |
SetLevelFeatureNum(idx, fcount); |
1217 |
|
1218 |
_featureNum += (fcount); |
1219 |
|
1220 |
|
1221 |
int fw = ftex->GetImgWidth();
|
1222 |
int fh = ftex->GetImgHeight();
|
1223 |
|
1224 |
list.resize(4*fh*fw);
|
1225 |
|
1226 |
ftex->BindTex(); |
1227 |
ftex->AttachToFBO(0);
|
1228 |
// glTexImage2D(GlobalUtil::_texTarget, 0, GlobalUtil::_iTexFormat, fw, fh, 0, GL_BGRA, GL_FLOAT, &list[0]);
|
1229 |
glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, fw, fh, GL_RGBA, GL_FLOAT, &list[0]); |
1230 |
//
|
1231 |
} |
1232 |
} |
1233 |
GLTexImage::UnbindTex(); |
1234 |
delete mem;
|
1235 |
if(GlobalUtil::_verbose)
|
1236 |
{ |
1237 |
std::cout<<"#Features:\t"<<_featureNum<<"\n"; |
1238 |
} |
1239 |
} |
1240 |
|
1241 |
#define FEATURELIST_USE_PBO
|
1242 |
|
1243 |
void PyramidGL::ReshapeFeatureListCPU()
|
1244 |
{ |
1245 |
//make a compact feature list, each with only one orientation
|
1246 |
//download orientations and the featue list
|
1247 |
//reshape it and upload it
|
1248 |
|
1249 |
FrameBufferObject fbo; |
1250 |
int i, szmax =0, sz; |
1251 |
int n = param._dog_level_num*_octave_num;
|
1252 |
for( i = 0; i < n; i++) |
1253 |
{ |
1254 |
sz = _featureTex[i].GetImgWidth() * _featureTex[i].GetImgHeight(); |
1255 |
if(sz > szmax ) szmax = sz;
|
1256 |
} |
1257 |
float * buffer = new float[szmax*24]; |
1258 |
float * buffer1 = buffer;
|
1259 |
float * buffer2 = buffer + szmax*4; |
1260 |
float * buffer3 = buffer + szmax*8; |
1261 |
|
1262 |
glReadBuffer(GL_COLOR_ATTACHMENT0_EXT); |
1263 |
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
1264 |
|
1265 |
#ifdef FEATURELIST_USE_PBO
|
1266 |
GLuint ListUploadPBO; |
1267 |
glGenBuffers(1, &ListUploadPBO);
|
1268 |
glBindBuffer(GL_PIXEL_UNPACK_BUFFER_ARB, ListUploadPBO); |
1269 |
glBufferData(GL_PIXEL_UNPACK_BUFFER_ARB, szmax * 8 * sizeof(float), NULL, GL_STREAM_DRAW); |
1270 |
#endif
|
1271 |
|
1272 |
_featureNum = 0;
|
1273 |
|
1274 |
#ifdef NO_DUPLICATE_DOWNLOAD
|
1275 |
const double twopi = 2.0*3.14159265358979323846; |
1276 |
_keypoint_buffer.resize(0);
|
1277 |
float os = _octave_min>=0? float(1<<_octave_min): 1.0f/(1<<(-_octave_min)); |
1278 |
if(_down_sample_factor>0) os *= float(1<<_down_sample_factor); |
1279 |
float offset = GlobalUtil::_LoweOrigin? 0 : 0.5f; |
1280 |
#endif
|
1281 |
|
1282 |
for(i = 0; i < n; i++) |
1283 |
{ |
1284 |
if(_levelFeatureNum[i]==0)continue; |
1285 |
|
1286 |
_featureTex[i].AttachToFBO(0);
|
1287 |
_featureTex[i].FitTexViewPort(); |
1288 |
glReadPixels(0, 0, _featureTex[i].GetImgWidth(), _featureTex[i].GetImgHeight(),GL_RGBA, GL_FLOAT, buffer1); |
1289 |
|
1290 |
int fcount =0, ocount; |
1291 |
float * src = buffer1;
|
1292 |
float * orientation = buffer2;
|
1293 |
float * des = buffer3;
|
1294 |
if(GlobalUtil::_OrientationPack2 == 0) |
1295 |
{ |
1296 |
//read back orientations from another texture
|
1297 |
_orientationTex[i].AttachToFBO(0);
|
1298 |
glReadPixels(0, 0, _orientationTex[i].GetImgWidth(), _orientationTex[i].GetImgHeight(),GL_RGBA, GL_FLOAT, buffer2); |
1299 |
//make the feature list
|
1300 |
for(int j = 0; j < _levelFeatureNum[i]; j++, src+=4, orientation+=4) |
1301 |
{ |
1302 |
if(_existing_keypoints)
|
1303 |
{ |
1304 |
des[0] = src[0]; |
1305 |
des[1] = src[1]; |
1306 |
des[2] = orientation[0]; |
1307 |
des[3] = src[3]; |
1308 |
fcount++; |
1309 |
des += 4;
|
1310 |
}else
|
1311 |
{ |
1312 |
ocount = (int)src[2]; |
1313 |
for(int k = 0 ; k < ocount; k++, des+=4) |
1314 |
{ |
1315 |
des[0] = src[0]; |
1316 |
des[1] = src[1]; |
1317 |
des[2] = orientation[k];
|
1318 |
des[3] = src[3]; |
1319 |
fcount++; |
1320 |
} |
1321 |
} |
1322 |
} |
1323 |
}else
|
1324 |
{ |
1325 |
_featureTex[i].DetachFBO(0);
|
1326 |
const static double factor = 2.0*3.14159265358979323846/65535.0; |
1327 |
for(int j = 0; j < _levelFeatureNum[i]; j++, src+=4) |
1328 |
{ |
1329 |
unsigned short * orientations = (unsigned short*) (&src[2]); |
1330 |
if(_existing_keypoints)
|
1331 |
{ |
1332 |
des[0] = src[0]; |
1333 |
des[1] = src[1]; |
1334 |
des[2] = float( factor* orientations[0]); |
1335 |
des[3] = src[3]; |
1336 |
fcount++; |
1337 |
des += 4;
|
1338 |
}else
|
1339 |
{ |
1340 |
if(orientations[0] != 65535) |
1341 |
{ |
1342 |
des[0] = src[0]; |
1343 |
des[1] = src[1]; |
1344 |
des[2] = float( factor* orientations[0]); |
1345 |
des[3] = src[3]; |
1346 |
fcount++; |
1347 |
des += 4;
|
1348 |
|
1349 |
if(orientations[1] != 65535) |
1350 |
{ |
1351 |
des[0] = src[0]; |
1352 |
des[1] = src[1]; |
1353 |
des[2] = float(factor* orientations[1]); |
1354 |
des[3] = src[3]; |
1355 |
fcount++; |
1356 |
des += 4;
|
1357 |
} |
1358 |
} |
1359 |
} |
1360 |
} |
1361 |
} |
1362 |
|
1363 |
//texture size --------------
|
1364 |
SetLevelFeatureNum(i, fcount); |
1365 |
int nfw = _featureTex[i].GetImgWidth();
|
1366 |
int nfh = _featureTex[i].GetImgHeight();
|
1367 |
int sz = nfh * nfw;
|
1368 |
if(sz > fcount) memset(des, 0, sizeof(float) * (sz - fcount) * 4); |
1369 |
|
1370 |
#ifndef FEATURELIST_USE_PBO
|
1371 |
_featureTex[i].BindTex(); |
1372 |
glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, nfw, nfh, GL_RGBA, GL_FLOAT, buffer3); |
1373 |
_featureTex[i].UnbindTex(); |
1374 |
#else
|
1375 |
float* mem = (float*) glMapBuffer(GL_PIXEL_UNPACK_BUFFER_ARB, GL_WRITE_ONLY); |
1376 |
memcpy(mem, buffer3, sz * 4 * sizeof(float) ); |
1377 |
glUnmapBuffer(GL_PIXEL_UNPACK_BUFFER_ARB); |
1378 |
_featureTex[i].BindTex(); |
1379 |
glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, nfw, nfh, GL_RGBA, GL_FLOAT, 0); |
1380 |
_featureTex[i].UnbindTex(); |
1381 |
#endif
|
1382 |
|
1383 |
#ifdef NO_DUPLICATE_DOWNLOAD
|
1384 |
if(fcount > 0) |
1385 |
{ |
1386 |
float oss = os * (1 << (i / param._dog_level_num)); |
1387 |
_keypoint_buffer.resize((_featureNum + fcount) * 4);
|
1388 |
float* ds = &_keypoint_buffer[_featureNum * 4]; |
1389 |
float* fs = buffer3;
|
1390 |
for(int k = 0; k < fcount; k++, ds+=4, fs+=4) |
1391 |
{ |
1392 |
ds[0] = oss*(fs[0]-0.5f) + offset; //x |
1393 |
ds[1] = oss*(fs[1]-0.5f) + offset; //y |
1394 |
ds[3] = (float)fmod(twopi-fs[2], twopi); //orientation, mirrored |
1395 |
ds[2] = oss*fs[3]; //scale |
1396 |
} |
1397 |
} |
1398 |
#endif
|
1399 |
_levelFeatureNum[i] = fcount; |
1400 |
_featureNum += fcount; |
1401 |
} |
1402 |
|
1403 |
delete[] buffer;
|
1404 |
if(GlobalUtil::_verbose)
|
1405 |
{ |
1406 |
std::cout<<"#Features MO:\t"<<_featureNum<<endl;
|
1407 |
} |
1408 |
///////////////////////////////////
|
1409 |
#ifdef FEATURELIST_USE_PBO
|
1410 |
glBindBuffer(GL_PIXEL_UNPACK_BUFFER_ARB, 0);
|
1411 |
glDeleteBuffers(1, &ListUploadPBO);
|
1412 |
#endif
|
1413 |
} |
1414 |
|
1415 |
|
1416 |
|
1417 |
inline void PyramidGL::SetLevelFeatureNum(int idx, int fcount) |
1418 |
{ |
1419 |
int fw, fh;
|
1420 |
GLTexImage * ftex = _featureTex + idx; |
1421 |
//set feature texture size. normally fh will be one
|
1422 |
GetTextureStorageSize(fcount, fw, fh); |
1423 |
if(fcount > ftex->GetTexWidth()*ftex->GetTexHeight())
|
1424 |
{ |
1425 |
if(GlobalUtil::_timingS && GlobalUtil::_verbose)
|
1426 |
std::cout<<"Too many features, reallocate texture\n";
|
1427 |
|
1428 |
ftex->InitTexture(fw, fh, 0);
|
1429 |
if(_orientationTex) _orientationTex[idx].InitTexture(fw, fh, 0); |
1430 |
|
1431 |
} |
1432 |
if(GlobalUtil::_NarrowFeatureTex)
|
1433 |
fh = fcount ==0? 0:(int)ceil(double(fcount)/fw); |
1434 |
else
|
1435 |
fw = fcount ==0? 0:(int)ceil(double(fcount)/fh); |
1436 |
ftex->SetImageSize(fw, fh); |
1437 |
if(_orientationTex) _orientationTex[idx].SetImageSize(fw, fh);
|
1438 |
} |
1439 |
|
1440 |
void PyramidGL::CleanUpAfterSIFT()
|
1441 |
{ |
1442 |
GLTexImage::UnbindMultiTex(3);
|
1443 |
ShaderMan::UnloadProgram(); |
1444 |
FrameBufferObject::DeleteGlobalFBO(); |
1445 |
GlobalUtil::CleanupOpenGL(); |
1446 |
} |
1447 |
|
1448 |
void PyramidNaive::GetSimplifiedOrientation()
|
1449 |
{ |
1450 |
//
|
1451 |
int idx = 0; |
1452 |
// int n = _octave_num * param._dog_level_num;
|
1453 |
float sigma, sigma_step = powf(2.0f, 1.0f/param._dog_level_num); |
1454 |
GLTexImage * ftex = _featureTex; |
1455 |
|
1456 |
FrameBufferObject fbo; |
1457 |
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
1458 |
for(int i = 0; i < _octave_num; i++) |
1459 |
{ |
1460 |
GLTexImage *gtex = GetLevelTexture(i+_octave_min, 2+param._level_min);
|
1461 |
for(int j = 0; j < param._dog_level_num; j++, ftex++, gtex++, idx ++) |
1462 |
{ |
1463 |
if(_levelFeatureNum[idx]<=0)continue; |
1464 |
sigma = param.GetLevelSigma(j+param._level_min+1);
|
1465 |
|
1466 |
//
|
1467 |
ftex->AttachToFBO(0);
|
1468 |
ftex->FitTexViewPort(); |
1469 |
|
1470 |
glActiveTexture(GL_TEXTURE0); |
1471 |
ftex->BindTex(); |
1472 |
glActiveTexture(GL_TEXTURE1); |
1473 |
gtex->BindTex(); |
1474 |
|
1475 |
ShaderMan::UseShaderSimpleOrientation(gtex->GetTexID(), sigma, sigma_step); |
1476 |
ftex->DrawQuad(); |
1477 |
} |
1478 |
} |
1479 |
|
1480 |
GLTexImage::UnbindMultiTex(2);
|
1481 |
|
1482 |
} |
1483 |
|
1484 |
|
1485 |
#ifdef USE_SSE_FOR_SIFTGPU
|
1486 |
static inline float dotproduct_128d(float * p) |
1487 |
{ |
1488 |
float z = 0.0f; |
1489 |
__m128 sse =_mm_load_ss(&z); |
1490 |
float* pf = (float*) (&sse); |
1491 |
for( int i = 0; i < 32; i++, p+=4) |
1492 |
{ |
1493 |
__m128 ps = _mm_loadu_ps(p); |
1494 |
sse = _mm_add_ps(sse, _mm_mul_ps(ps, ps)); |
1495 |
} |
1496 |
return pf[0] + pf[1] + pf[2] + pf[3]; |
1497 |
|
1498 |
} |
1499 |
static inline void multiply_and_truncate_128d(float* p, float m) |
1500 |
{ |
1501 |
float z = 0.2f; |
1502 |
__m128 t = _mm_load_ps1(&z); |
1503 |
__m128 r = _mm_load_ps1(&m); |
1504 |
for(int i = 0; i < 32; i++, p+=4) |
1505 |
{ |
1506 |
__m128 ps = _mm_loadu_ps(p); |
1507 |
_mm_storeu_ps(p, _mm_min_ps(_mm_mul_ps(ps, r), t)); |
1508 |
} |
1509 |
} |
1510 |
static inline void multiply_128d(float* p, float m) |
1511 |
{ |
1512 |
__m128 r = _mm_load_ps1(&m); |
1513 |
for(int i = 0; i < 32; i++, p+=4) |
1514 |
{ |
1515 |
__m128 ps = _mm_loadu_ps(p); |
1516 |
_mm_storeu_ps(p, _mm_mul_ps(ps, r)); |
1517 |
} |
1518 |
} |
1519 |
#endif
|
1520 |
|
1521 |
|
1522 |
inline void PyramidGL::NormalizeDescriptor(int num, float*pd) |
1523 |
{ |
1524 |
|
1525 |
#ifdef USE_SSE_FOR_SIFTGPU
|
1526 |
for(int k = 0; k < num; k++, pd +=128) |
1527 |
{ |
1528 |
float sq;
|
1529 |
//normalize and truncate to .2
|
1530 |
sq = dotproduct_128d(pd); sq = 1.0f / sqrtf(sq); |
1531 |
multiply_and_truncate_128d(pd, sq); |
1532 |
|
1533 |
//renormalize
|
1534 |
sq = dotproduct_128d(pd); sq = 1.0f / sqrtf(sq); |
1535 |
multiply_128d(pd, sq); |
1536 |
} |
1537 |
#else
|
1538 |
//descriptor normalization runs on cpu for OpenGL implemenations
|
1539 |
for(int k = 0; k < num; k++, pd +=128) |
1540 |
{ |
1541 |
int v;
|
1542 |
float* ppd, sq = 0; |
1543 |
//int v;
|
1544 |
//normalize
|
1545 |
ppd = pd; |
1546 |
for(v = 0 ; v < 128; v++, ppd++) sq += (*ppd)*(*ppd); |
1547 |
sq = 1.0f / sqrtf(sq); |
1548 |
//truncate to .2
|
1549 |
ppd = pd; |
1550 |
for(v = 0; v < 128; v ++, ppd++) *ppd = min(*ppd*sq, 0.2f); |
1551 |
|
1552 |
//renormalize
|
1553 |
ppd = pd; sq = 0;
|
1554 |
for(v = 0; v < 128; v++, ppd++) sq += (*ppd)*(*ppd); |
1555 |
sq = 1.0f / sqrtf(sq); |
1556 |
|
1557 |
ppd = pd; |
1558 |
for(v = 0; v < 128; v ++, ppd++) *ppd = *ppd*sq; |
1559 |
} |
1560 |
|
1561 |
#endif
|
1562 |
} |
1563 |
|
1564 |
inline void PyramidGL::InterlaceDescriptorF2(int w, int h, float* buf, float* pd, int step) |
1565 |
{ |
1566 |
/*
|
1567 |
if(GlobalUtil::_DescriptorPPR == 8)
|
1568 |
{
|
1569 |
const int dstep = w * 128;
|
1570 |
float* pp1 = buf;
|
1571 |
float* pp2 = buf + step;
|
1572 |
|
1573 |
for(int u = 0; u < h ; u++, pd+=dstep)
|
1574 |
{
|
1575 |
int v;
|
1576 |
float* ppd = pd;
|
1577 |
for(v= 0; v < w; v++)
|
1578 |
{
|
1579 |
for(int t = 0; t < 8; t++)
|
1580 |
{
|
1581 |
*ppd++ = *pp1++;*ppd++ = *pp1++;*ppd++ = *pp1++;*ppd++ = *pp1++;
|
1582 |
*ppd++ = *pp2++;*ppd++ = *pp2++;*ppd++ = *pp2++;*ppd++ = *pp2++;
|
1583 |
}
|
1584 |
ppd += 64;
|
1585 |
}
|
1586 |
ppd = pd + 64;
|
1587 |
for(v= 0; v < w; v++)
|
1588 |
{
|
1589 |
for(int t = 0; t < 8; t++)
|
1590 |
{
|
1591 |
*ppd++ = *pp1++;*ppd++ = *pp1++;*ppd++ = *pp1++;*ppd++ = *pp1++;
|
1592 |
*ppd++ = *pp2++;*ppd++ = *pp2++;*ppd++ = *pp2++;*ppd++ = *pp2++;
|
1593 |
}
|
1594 |
ppd += 64;
|
1595 |
}
|
1596 |
}
|
1597 |
|
1598 |
}else */
|
1599 |
if(GlobalUtil::_DescriptorPPR == 8) |
1600 |
{ |
1601 |
//interlace
|
1602 |
for(int k = 0; k < 2; k++) |
1603 |
{ |
1604 |
float* pp = buf + k * step;
|
1605 |
float* ppd = pd + k * 4; |
1606 |
for(int u = 0; u < h ; u++) |
1607 |
{ |
1608 |
int v;
|
1609 |
for(v= 0; v < w; v++) |
1610 |
{ |
1611 |
for(int t = 0; t < 8; t++) |
1612 |
{ |
1613 |
ppd[0] = pp[0]; |
1614 |
ppd[1] = pp[1]; |
1615 |
ppd[2] = pp[2]; |
1616 |
ppd[3] = pp[3]; |
1617 |
ppd += 8;
|
1618 |
pp+= 4;
|
1619 |
} |
1620 |
ppd += 64;
|
1621 |
} |
1622 |
ppd += ( 64 - 128 * w ); |
1623 |
for(v= 0; v < w; v++) |
1624 |
{ |
1625 |
for(int t = 0; t < 8; t++) |
1626 |
{ |
1627 |
ppd[0] = pp[0]; |
1628 |
ppd[1] = pp[1]; |
1629 |
ppd[2] = pp[2]; |
1630 |
ppd[3] = pp[3]; |
1631 |
|
1632 |
ppd += 8;
|
1633 |
pp+= 4;
|
1634 |
} |
1635 |
ppd += 64;
|
1636 |
} |
1637 |
ppd -=64;
|
1638 |
} |
1639 |
} |
1640 |
}else if(GlobalUtil::_DescriptorPPR == 4) |
1641 |
{ |
1642 |
|
1643 |
} |
1644 |
|
1645 |
|
1646 |
|
1647 |
} |
1648 |
void PyramidGL::GetFeatureDescriptors()
|
1649 |
{ |
1650 |
//descriptors...
|
1651 |
float sigma;
|
1652 |
int idx, i, j, k, w, h;
|
1653 |
int ndf = 32 / GlobalUtil::_DescriptorPPT; //number of textures |
1654 |
int block_width = GlobalUtil::_DescriptorPPR;
|
1655 |
int block_height = GlobalUtil::_DescriptorPPT/GlobalUtil::_DescriptorPPR;
|
1656 |
float* pd = &_descriptor_buffer[0], * pbuf = NULL; |
1657 |
vector<float>read_buffer, descriptor_buffer2;
|
1658 |
|
1659 |
//use another buffer, if we need to re-order the descriptors
|
1660 |
if(_keypoint_index.size() > 0) |
1661 |
{ |
1662 |
descriptor_buffer2.resize(_descriptor_buffer.size()); |
1663 |
pd = &descriptor_buffer2[0];
|
1664 |
} |
1665 |
FrameBufferObject fbo; |
1666 |
|
1667 |
GLTexImage * gtex, *otex, * ftex; |
1668 |
GLenum buffers[8] = {
|
1669 |
GL_COLOR_ATTACHMENT0_EXT, GL_COLOR_ATTACHMENT1_EXT , |
1670 |
GL_COLOR_ATTACHMENT2_EXT, GL_COLOR_ATTACHMENT3_EXT , |
1671 |
GL_COLOR_ATTACHMENT4_EXT, GL_COLOR_ATTACHMENT5_EXT , |
1672 |
GL_COLOR_ATTACHMENT6_EXT, GL_COLOR_ATTACHMENT7_EXT , |
1673 |
}; |
1674 |
|
1675 |
glDrawBuffers(ndf, buffers); |
1676 |
glReadBuffer(GL_COLOR_ATTACHMENT0_EXT); |
1677 |
|
1678 |
|
1679 |
for( i = 0, idx = 0, ftex = _featureTex; i < _octave_num; i++) |
1680 |
{ |
1681 |
gtex = GetBaseLevel(i + _octave_min, DATA_GRAD) + 1;
|
1682 |
otex = GetBaseLevel(i + _octave_min, DATA_ROT) + 1;
|
1683 |
for( j = 0; j < param._dog_level_num; j++, ftex++, idx++, gtex++, otex++) |
1684 |
{ |
1685 |
if(_levelFeatureNum[idx]==0)continue; |
1686 |
|
1687 |
sigma = IsUsingRectDescription()? 0 : param.GetLevelSigma(j+param._level_min+1); |
1688 |
int count = _levelFeatureNum[idx] * block_width;
|
1689 |
GetAlignedStorageSize(count, block_width, w, h); |
1690 |
h = ((int)ceil(double(count) / w)) * block_height; |
1691 |
|
1692 |
//not enought space for holding the descriptor data
|
1693 |
if(w > _descriptorTex[0].GetTexWidth() || h > _descriptorTex[0].GetTexHeight()) |
1694 |
{ |
1695 |
for(k = 0; k < ndf; k++)_descriptorTex[k].InitTexture(w, h); |
1696 |
} |
1697 |
for(k = 0; k < ndf; k++) _descriptorTex[k].AttachToFBO(k); |
1698 |
GlobalUtil::FitViewPort(w, h); |
1699 |
glActiveTexture(GL_TEXTURE0); |
1700 |
ftex->BindTex(); |
1701 |
glActiveTexture(GL_TEXTURE1); |
1702 |
gtex->BindTex(); |
1703 |
if(otex!=gtex)
|
1704 |
{ |
1705 |
glActiveTexture(GL_TEXTURE2); |
1706 |
otex->BindTex(); |
1707 |
} |
1708 |
|
1709 |
ShaderMan::UseShaderDescriptor(gtex->GetTexID(), otex->GetTexID(), |
1710 |
w, ftex->GetImgWidth(), gtex->GetImgWidth(), gtex->GetImgHeight(), sigma); |
1711 |
GLTexImage::DrawQuad(0, (float)w, 0, (float)h); |
1712 |
|
1713 |
//read back float format descriptors and do normalization on CPU
|
1714 |
int step = w*h*4; |
1715 |
if((unsigned int)step*ndf > read_buffer.size()) |
1716 |
{ |
1717 |
read_buffer.resize(ndf*step); |
1718 |
} |
1719 |
pbuf = &read_buffer[0];
|
1720 |
|
1721 |
//read back
|
1722 |
for(k = 0; k < ndf; k++, pbuf+=step) |
1723 |
{ |
1724 |
glReadBuffer(GL_COLOR_ATTACHMENT0_EXT + k); |
1725 |
glReadPixels(0, 0, w, h, GL_RGBA, GL_FLOAT, pbuf); |
1726 |
} |
1727 |
|
1728 |
//the following two steps run on cpu, so better cpu better speed
|
1729 |
//and release version can be a lot faster than debug version
|
1730 |
//interlace data on the two texture to get the descriptor
|
1731 |
InterlaceDescriptorF2(w / block_width, h / block_height, &read_buffer[0], pd, step);
|
1732 |
|
1733 |
//need to do normalization
|
1734 |
//the new version uses SSE to speed up this part
|
1735 |
if(GlobalUtil::_NormalizedSIFT) NormalizeDescriptor(_levelFeatureNum[idx], pd);
|
1736 |
|
1737 |
pd += 128*_levelFeatureNum[idx];
|
1738 |
glReadBuffer(GL_NONE); |
1739 |
} |
1740 |
} |
1741 |
|
1742 |
|
1743 |
//finally, put the descriptor back to their original order for existing keypoint list.
|
1744 |
if(_keypoint_index.size() > 0) |
1745 |
{ |
1746 |
for(i = 0; i < _featureNum; ++i) |
1747 |
{ |
1748 |
int index = _keypoint_index[i];
|
1749 |
memcpy(&_descriptor_buffer[index*128], &descriptor_buffer2[i*128], 128 * sizeof(float)); |
1750 |
} |
1751 |
} |
1752 |
|
1753 |
////////////////////////
|
1754 |
GLTexImage::UnbindMultiTex(3);
|
1755 |
glDrawBuffer(GL_NONE); |
1756 |
ShaderMan::UnloadProgram(); |
1757 |
if(GlobalUtil::_timingS)glFinish();
|
1758 |
for(i = 0; i < ndf; i++) fbo.UnattachTex(GL_COLOR_ATTACHMENT0_EXT +i); |
1759 |
|
1760 |
} |
1761 |
|
1762 |
|
1763 |
void PyramidGL::DownloadKeypoints()
|
1764 |
{ |
1765 |
const double twopi = 2.0*3.14159265358979323846; |
1766 |
int idx = 0; |
1767 |
float * buffer = &_keypoint_buffer[0]; |
1768 |
vector<float> keypoint_buffer2;
|
1769 |
//use a different keypoint buffer when processing with an exisint features list
|
1770 |
//without orientation information.
|
1771 |
if(_keypoint_index.size() > 0) |
1772 |
{ |
1773 |
keypoint_buffer2.resize(_keypoint_buffer.size()); |
1774 |
buffer = &keypoint_buffer2[0];
|
1775 |
} |
1776 |
float * p = buffer, *ps, sigma;
|
1777 |
GLTexImage * ftex = _featureTex; |
1778 |
FrameBufferObject fbo; |
1779 |
ftex->FitRealTexViewPort(); |
1780 |
/////////////////////
|
1781 |
float os = _octave_min>=0? float(1<<_octave_min): 1.0f/(1<<(-_octave_min)); |
1782 |
if(_down_sample_factor>0) os *= float(1<<_down_sample_factor); |
1783 |
float offset = GlobalUtil::_LoweOrigin? 0 : 0.5f; |
1784 |
/////////////////////
|
1785 |
for(int i = 0; i < _octave_num; i++, os *= 2.0f) |
1786 |
{ |
1787 |
|
1788 |
for(int j = 0; j < param._dog_level_num; j++, idx++, ftex++) |
1789 |
{ |
1790 |
|
1791 |
if(_levelFeatureNum[idx]>0) |
1792 |
{ |
1793 |
ftex->AttachToFBO(0);
|
1794 |
glReadPixels(0, 0, ftex->GetImgWidth(), ftex->GetImgHeight(),GL_RGBA, GL_FLOAT, p); |
1795 |
ps = p; |
1796 |
for(int k = 0; k < _levelFeatureNum[idx]; k++, ps+=4) |
1797 |
{ |
1798 |
ps[0] = os*(ps[0]-0.5f) + offset; //x |
1799 |
ps[1] = os*(ps[1]-0.5f) + offset; //y |
1800 |
sigma = os*ps[3];
|
1801 |
ps[3] = (float)fmod(twopi-ps[2], twopi); //orientation, mirrored |
1802 |
ps[2] = sigma; //scale |
1803 |
} |
1804 |
p+= 4* _levelFeatureNum[idx];
|
1805 |
} |
1806 |
} |
1807 |
} |
1808 |
|
1809 |
//put the feature into their original order
|
1810 |
|
1811 |
if(_keypoint_index.size() > 0) |
1812 |
{ |
1813 |
for(int i = 0; i < _featureNum; ++i) |
1814 |
{ |
1815 |
int index = _keypoint_index[i];
|
1816 |
memcpy(&_keypoint_buffer[index*4], &keypoint_buffer2[i*4], 4 * sizeof(float)); |
1817 |
} |
1818 |
} |
1819 |
} |
1820 |
|
1821 |
|
1822 |
void PyramidGL::GenerateFeatureListTex()
|
1823 |
{ |
1824 |
//generate feature list texture from existing keypoints
|
1825 |
//do feature sorting in the same time?
|
1826 |
|
1827 |
FrameBufferObject fbo; |
1828 |
vector<float> list;
|
1829 |
int idx = 0; |
1830 |
const double twopi = 2.0*3.14159265358979323846; |
1831 |
float sigma_half_step = powf(2.0f, 0.5f / param._dog_level_num); |
1832 |
float octave_sigma = _octave_min>=0? float(1<<_octave_min): 1.0f/(1<<(-_octave_min)); |
1833 |
float offset = GlobalUtil::_LoweOrigin? 0 : 0.5f; |
1834 |
if(_down_sample_factor>0) octave_sigma *= float(1<<_down_sample_factor); |
1835 |
|
1836 |
|
1837 |
std::fill(_levelFeatureNum, _levelFeatureNum + _octave_num * param._dog_level_num, 0);
|
1838 |
|
1839 |
_keypoint_index.resize(0); // should already be 0 |
1840 |
for(int i = 0; i < _octave_num; i++, octave_sigma*= 2.0f) |
1841 |
{ |
1842 |
for(int j = 0; j < param._dog_level_num; j++, idx++) |
1843 |
{ |
1844 |
list.resize(0);
|
1845 |
float level_sigma = param.GetLevelSigma(j + param._level_min + 1) * octave_sigma; |
1846 |
float sigma_min = level_sigma / sigma_half_step;
|
1847 |
float sigma_max = level_sigma * sigma_half_step;
|
1848 |
int fcount = 0 ; |
1849 |
for(int k = 0; k < _featureNum; k++) |
1850 |
{ |
1851 |
float * key = &_keypoint_buffer[k*4]; |
1852 |
float sigmak = key[2]; |
1853 |
|
1854 |
//////////////////////////////////////
|
1855 |
if(IsUsingRectDescription()) sigmak = min(key[2], key[3]) / 12.0f; |
1856 |
|
1857 |
if( (sigmak >= sigma_min && sigmak < sigma_max)
|
1858 |
||(sigmak < sigma_min && i ==0 && j == 0) |
1859 |
||(sigmak > sigma_max && j == param._dog_level_num - 1&&
|
1860 |
(i == _octave_num -1 || GlobalUtil::_KeyPointListForceLevel0)))
|
1861 |
{ |
1862 |
//add this keypoint to the list
|
1863 |
list.push_back((key[0] - offset) / octave_sigma + 0.5f); |
1864 |
list.push_back((key[1] - offset) / octave_sigma + 0.5f); |
1865 |
if(IsUsingRectDescription())
|
1866 |
{ |
1867 |
list.push_back(key[2] / octave_sigma);
|
1868 |
list.push_back(key[3] / octave_sigma);
|
1869 |
}else
|
1870 |
{ |
1871 |
list.push_back((float)fmod(twopi-key[3], twopi)); |
1872 |
list.push_back(key[2] / octave_sigma);
|
1873 |
} |
1874 |
fcount ++; |
1875 |
//save the index of keypoints
|
1876 |
_keypoint_index.push_back(k); |
1877 |
} |
1878 |
} |
1879 |
|
1880 |
_levelFeatureNum[idx] = fcount; |
1881 |
if(fcount==0)continue; |
1882 |
GLTexImage * ftex = _featureTex+idx; |
1883 |
|
1884 |
SetLevelFeatureNum(idx, fcount); |
1885 |
|
1886 |
int fw = ftex->GetImgWidth();
|
1887 |
int fh = ftex->GetImgHeight();
|
1888 |
|
1889 |
list.resize(4*fh*fw);
|
1890 |
|
1891 |
ftex->BindTex(); |
1892 |
ftex->AttachToFBO(0);
|
1893 |
glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, fw, fh, GL_RGBA, GL_FLOAT, &list[0]); |
1894 |
|
1895 |
if( fcount == _featureNum) _keypoint_index.resize(0); |
1896 |
} |
1897 |
if( GlobalUtil::_KeyPointListForceLevel0 ) break; |
1898 |
} |
1899 |
GLTexImage::UnbindTex(); |
1900 |
if(GlobalUtil::_verbose)
|
1901 |
{ |
1902 |
std::cout<<"#Features:\t"<<_featureNum<<"\n"; |
1903 |
} |
1904 |
} |
1905 |
|
1906 |
|
1907 |
|
1908 |
PyramidPacked::PyramidPacked(SiftParam& sp): PyramidGL(sp) |
1909 |
{ |
1910 |
_allPyramid = NULL;
|
1911 |
} |
1912 |
|
1913 |
PyramidPacked::~PyramidPacked() |
1914 |
{ |
1915 |
DestroyPyramidData(); |
1916 |
} |
1917 |
|
1918 |
|
1919 |
//build the gaussian pyrmaid
|
1920 |
|
1921 |
void PyramidPacked::BuildPyramid(GLTexInput * input)
|
1922 |
{ |
1923 |
//
|
1924 |
USE_TIMING(); |
1925 |
GLTexImage * tex, *tmp; |
1926 |
FilterProgram ** filter; |
1927 |
FrameBufferObject fbo; |
1928 |
|
1929 |
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
1930 |
input->FitTexViewPort(); |
1931 |
|
1932 |
for (int i = _octave_min; i < _octave_min + _octave_num; i++) |
1933 |
{ |
1934 |
tex = GetBaseLevel(i); |
1935 |
tmp = GetBaseLevel(i, DATA_DOG) + 2; //use this as a temperory texture |
1936 |
|
1937 |
|
1938 |
filter = ShaderMan::s_bag->f_gaussian_step; |
1939 |
|
1940 |
OCTAVE_START(); |
1941 |
|
1942 |
if( i == _octave_min )
|
1943 |
{ |
1944 |
if(i < 0) TextureUpSample(tex, input, 1<<(-i-1)); |
1945 |
else TextureDownSample(tex, input, 1<<(i+1)); |
1946 |
ShaderMan::FilterInitialImage(tex, tmp); |
1947 |
}else
|
1948 |
{ |
1949 |
TextureDownSample(tex, GetLevelTexture(i-1, param._level_ds));
|
1950 |
ShaderMan::FilterSampledImage(tex, tmp); |
1951 |
} |
1952 |
LEVEL_FINISH(); |
1953 |
|
1954 |
for(int j = param._level_min + 1; j <= param._level_max ; j++, tex++, filter++) |
1955 |
{ |
1956 |
// filtering
|
1957 |
ShaderMan::FilterImage(*filter, tex+1, tex, tmp);
|
1958 |
LEVEL_FINISH(); |
1959 |
} |
1960 |
|
1961 |
OCTAVE_FINISH(); |
1962 |
|
1963 |
} |
1964 |
if(GlobalUtil::_timingS) glFinish();
|
1965 |
UnloadProgram(); |
1966 |
} |
1967 |
|
1968 |
void PyramidPacked::ComputeGradient()
|
1969 |
{ |
1970 |
|
1971 |
//first pass, compute dog, gradient, orientation
|
1972 |
GLenum buffers[4] = {
|
1973 |
GL_COLOR_ATTACHMENT0_EXT, GL_COLOR_ATTACHMENT1_EXT , |
1974 |
GL_COLOR_ATTACHMENT2_EXT, GL_COLOR_ATTACHMENT3_EXT |
1975 |
}; |
1976 |
|
1977 |
int i, j;
|
1978 |
double ts, t1;
|
1979 |
FrameBufferObject fbo; |
1980 |
|
1981 |
if(GlobalUtil::_timingS && GlobalUtil::_verbose)ts = CLOCK();
|
1982 |
|
1983 |
for(i = _octave_min; i < _octave_min + _octave_num; i++)
|
1984 |
{ |
1985 |
GLTexImage * gus = GetBaseLevel(i) + 1;
|
1986 |
GLTexImage * dog = GetBaseLevel(i, DATA_DOG) + 1;
|
1987 |
GLTexImage * grd = GetBaseLevel(i, DATA_GRAD) + 1;
|
1988 |
GLTexImage * rot = GetBaseLevel(i, DATA_ROT) + 1;
|
1989 |
glDrawBuffers(3, buffers);
|
1990 |
gus->FitTexViewPort(); |
1991 |
//compute the gradient
|
1992 |
for(j = 0; j < param._dog_level_num ; j++, gus++, dog++, grd++, rot++) |
1993 |
{ |
1994 |
//gradient, dog, orientation
|
1995 |
glActiveTexture(GL_TEXTURE0); |
1996 |
gus->BindTex(); |
1997 |
glActiveTexture(GL_TEXTURE1); |
1998 |
(gus-1)->BindTex();
|
1999 |
//output
|
2000 |
dog->AttachToFBO(0);
|
2001 |
grd->AttachToFBO(1);
|
2002 |
rot->AttachToFBO(2);
|
2003 |
ShaderMan::UseShaderGradientPass((gus-1)->GetTexID());
|
2004 |
//compute
|
2005 |
dog->DrawQuadMT4(); |
2006 |
} |
2007 |
} |
2008 |
if(GlobalUtil::_timingS)
|
2009 |
{ |
2010 |
glFinish(); |
2011 |
if(GlobalUtil::_verbose)
|
2012 |
{ |
2013 |
t1 = CLOCK(); |
2014 |
std::cout <<"<Gradient, DOG >\t"<<(t1-ts)<<"\n"; |
2015 |
} |
2016 |
} |
2017 |
GLTexImage::DetachFBO(1);
|
2018 |
GLTexImage::DetachFBO(2);
|
2019 |
UnloadProgram(); |
2020 |
GLTexImage::UnbindMultiTex(3);
|
2021 |
fbo.UnattachTex(GL_COLOR_ATTACHMENT1_EXT); |
2022 |
} |
2023 |
|
2024 |
void PyramidPacked::DetectKeypointsEX()
|
2025 |
{ |
2026 |
|
2027 |
//first pass, compute dog, gradient, orientation
|
2028 |
GLenum buffers[4] = {
|
2029 |
GL_COLOR_ATTACHMENT0_EXT, GL_COLOR_ATTACHMENT1_EXT , |
2030 |
GL_COLOR_ATTACHMENT2_EXT, GL_COLOR_ATTACHMENT3_EXT |
2031 |
}; |
2032 |
|
2033 |
int i, j;
|
2034 |
double t0, t, ts, t1, t2;
|
2035 |
FrameBufferObject fbo; |
2036 |
|
2037 |
if(GlobalUtil::_timingS && GlobalUtil::_verbose)ts = CLOCK();
|
2038 |
|
2039 |
for(i = _octave_min; i < _octave_min + _octave_num; i++)
|
2040 |
{ |
2041 |
GLTexImage * gus = GetBaseLevel(i) + 1;
|
2042 |
GLTexImage * dog = GetBaseLevel(i, DATA_DOG) + 1;
|
2043 |
GLTexImage * grd = GetBaseLevel(i, DATA_GRAD) + 1;
|
2044 |
GLTexImage * rot = GetBaseLevel(i, DATA_ROT) + 1;
|
2045 |
glDrawBuffers(3, buffers);
|
2046 |
gus->FitTexViewPort(); |
2047 |
//compute the gradient
|
2048 |
for(j = param._level_min +1; j <= param._level_max ; j++, gus++, dog++, grd++, rot++) |
2049 |
{ |
2050 |
//gradient, dog, orientation
|
2051 |
glActiveTexture(GL_TEXTURE0); |
2052 |
gus->BindTex(); |
2053 |
glActiveTexture(GL_TEXTURE1); |
2054 |
(gus-1)->BindTex();
|
2055 |
//output
|
2056 |
dog->AttachToFBO(0);
|
2057 |
grd->AttachToFBO(1);
|
2058 |
rot->AttachToFBO(2);
|
2059 |
ShaderMan::UseShaderGradientPass((gus-1)->GetTexID());
|
2060 |
//compute
|
2061 |
dog->DrawQuadMT4(); |
2062 |
} |
2063 |
} |
2064 |
if(GlobalUtil::_timingS && GlobalUtil::_verbose)
|
2065 |
{ |
2066 |
glFinish(); |
2067 |
t1 = CLOCK(); |
2068 |
} |
2069 |
GLTexImage::DetachFBO(1);
|
2070 |
GLTexImage::DetachFBO(2);
|
2071 |
//glDrawBuffers(1, buffers);
|
2072 |
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
2073 |
|
2074 |
|
2075 |
GlobalUtil::CheckErrorsGL(); |
2076 |
|
2077 |
for ( i = _octave_min; i < _octave_min + _octave_num; i++)
|
2078 |
{ |
2079 |
if(GlobalUtil::_timingO)
|
2080 |
{ |
2081 |
t0 = CLOCK(); |
2082 |
std::cout<<"#"<<(i + _down_sample_factor)<<"\t"; |
2083 |
} |
2084 |
GLTexImage * dog = GetBaseLevel(i, DATA_DOG) + 2;
|
2085 |
GLTexImage * key = GetBaseLevel(i, DATA_KEYPOINT) +2;
|
2086 |
key->FitTexViewPort(); |
2087 |
|
2088 |
for( j = param._level_min +2; j < param._level_max ; j++, dog++, key++) |
2089 |
{ |
2090 |
if(GlobalUtil::_timingL)t = CLOCK();
|
2091 |
key->AttachToFBO(0);
|
2092 |
glActiveTexture(GL_TEXTURE0); |
2093 |
dog->BindTex(); |
2094 |
glActiveTexture(GL_TEXTURE1); |
2095 |
(dog+1)->BindTex();
|
2096 |
glActiveTexture(GL_TEXTURE2); |
2097 |
(dog-1)->BindTex();
|
2098 |
ShaderMan::UseShaderKeypoint((dog+1)->GetTexID(), (dog-1)->GetTexID()); |
2099 |
key->DrawQuadMT8(); |
2100 |
if(GlobalUtil::_timingL)
|
2101 |
{ |
2102 |
glFinish(); |
2103 |
std::cout<<(CLOCK()-t)<<"\t";
|
2104 |
} |
2105 |
} |
2106 |
if(GlobalUtil::_timingO)
|
2107 |
{ |
2108 |
glFinish(); |
2109 |
std::cout<<"|\t"<<(CLOCK()-t0)<<"\n"; |
2110 |
} |
2111 |
} |
2112 |
|
2113 |
if(GlobalUtil::_timingS)
|
2114 |
{ |
2115 |
glFinish(); |
2116 |
if(GlobalUtil::_verbose)
|
2117 |
{ |
2118 |
t2 = CLOCK(); |
2119 |
std::cout <<"<Gradient, DOG >\t"<<(t1-ts)<<"\n" |
2120 |
<<"<Get Keypoints >\t"<<(t2-t1)<<"\n"; |
2121 |
} |
2122 |
|
2123 |
} |
2124 |
UnloadProgram(); |
2125 |
GLTexImage::UnbindMultiTex(3);
|
2126 |
fbo.UnattachTex(GL_COLOR_ATTACHMENT1_EXT); |
2127 |
} |
2128 |
|
2129 |
|
2130 |
void PyramidPacked::GenerateFeatureList(int i, int j) |
2131 |
{ |
2132 |
float fcount = 0.0f; |
2133 |
int hist_skip_gpu = GlobalUtil::_ListGenSkipGPU;
|
2134 |
int idx = i * param._dog_level_num + j;
|
2135 |
int hist_level_num = _hpLevelNum - _pyramid_octave_first;
|
2136 |
GLTexImage * htex, * ftex, * tex; |
2137 |
htex = _histoPyramidTex + hist_level_num - 1 - i;
|
2138 |
ftex = _featureTex + idx; |
2139 |
tex = GetBaseLevel(_octave_min + i, DATA_KEYPOINT) + 2 + j;
|
2140 |
|
2141 |
|
2142 |
//fill zero to an extra row/col if the height/width is odd
|
2143 |
glActiveTexture(GL_TEXTURE0); |
2144 |
tex->BindTex(); |
2145 |
htex->AttachToFBO(0);
|
2146 |
int tight = (htex->GetImgWidth() * 4 == tex->GetImgWidth() -1 && htex->GetImgHeight() *4 == tex->GetImgHeight()-1 ); |
2147 |
ShaderMan::UseShaderGenListInit(tex->GetImgWidth(), tex->GetImgHeight(), tight); |
2148 |
htex->FitTexViewPort(); |
2149 |
//this uses the fact that no feature is on the edge.
|
2150 |
htex->DrawQuadReduction(); |
2151 |
//reduction..
|
2152 |
htex--; |
2153 |
|
2154 |
//this part might have problems on several GPUS
|
2155 |
//because the output of one pass is the input of the next pass
|
2156 |
//may require glFinish to make it right, but too much glFinish makes it slow
|
2157 |
for(int k = 0; k <hist_level_num - i-1 - hist_skip_gpu; k++, htex--) |
2158 |
{ |
2159 |
htex->AttachToFBO(0);
|
2160 |
htex->FitTexViewPort(); |
2161 |
(htex+1)->BindTex();
|
2162 |
ShaderMan::UseShaderGenListHisto(); |
2163 |
htex->DrawQuadReduction(); |
2164 |
} |
2165 |
|
2166 |
if(hist_skip_gpu == 0) |
2167 |
{ |
2168 |
//read back one pixel
|
2169 |
float fn[4]; |
2170 |
glReadPixels(0, 0, 1, 1, GL_RGBA , GL_FLOAT, fn); |
2171 |
fcount = (fn[0] + fn[1] + fn[2] + fn[3]); |
2172 |
if(fcount < 1) fcount = 0; |
2173 |
|
2174 |
_levelFeatureNum[ idx] = (int)(fcount);
|
2175 |
SetLevelFeatureNum(idx, (int)fcount);
|
2176 |
|
2177 |
//save number of features
|
2178 |
_featureNum += int(fcount);
|
2179 |
|
2180 |
//
|
2181 |
if(fcount < 1.0) return;; |
2182 |
|
2183 |
|
2184 |
///generate the feature texture
|
2185 |
htex= _histoPyramidTex; |
2186 |
|
2187 |
htex->BindTex(); |
2188 |
|
2189 |
//first pass
|
2190 |
ftex->AttachToFBO(0);
|
2191 |
if(GlobalUtil::_MaxOrientation>1) |
2192 |
{ |
2193 |
//this is very important...
|
2194 |
ftex->FitRealTexViewPort(); |
2195 |
glClear(GL_COLOR_BUFFER_BIT); |
2196 |
glFinish(); |
2197 |
}else
|
2198 |
{ |
2199 |
ftex->FitTexViewPort(); |
2200 |
//glFinish();
|
2201 |
} |
2202 |
|
2203 |
|
2204 |
ShaderMan::UseShaderGenListStart((float)ftex->GetImgWidth(), htex->GetTexID());
|
2205 |
|
2206 |
ftex->DrawQuad(); |
2207 |
//make sure it finishes before the next step
|
2208 |
ftex->DetachFBO(0);
|
2209 |
//pass on each pyramid level
|
2210 |
htex++; |
2211 |
}else
|
2212 |
{ |
2213 |
|
2214 |
int tw = htex[1].GetDrawWidth(), th = htex[1].GetDrawHeight(); |
2215 |
int fc = 0; |
2216 |
glReadPixels(0, 0, tw, th, GL_RGBA , GL_FLOAT, _histo_buffer); |
2217 |
_keypoint_buffer.resize(0);
|
2218 |
for(int y = 0, pos = 0; y < th; y++) |
2219 |
{ |
2220 |
for(int x= 0; x < tw; x++) |
2221 |
{ |
2222 |
for(int c = 0; c < 4; c++, pos++) |
2223 |
{ |
2224 |
int ss = (int) _histo_buffer[pos]; |
2225 |
if(ss == 0) continue; |
2226 |
float ft[4] = {2 * x + (c%2? 1.5f: 0.5f), 2 * y + (c>=2? 1.5f: 0.5f), 0, 1 }; |
2227 |
for(int t = 0; t < ss; t++) |
2228 |
{ |
2229 |
ft[2] = (float) t; |
2230 |
_keypoint_buffer.insert(_keypoint_buffer.end(), ft, ft+4);
|
2231 |
} |
2232 |
fc += (int)ss;
|
2233 |
} |
2234 |
} |
2235 |
} |
2236 |
_levelFeatureNum[ idx] = fc; |
2237 |
SetLevelFeatureNum(idx, fc); |
2238 |
if(fc == 0) return; |
2239 |
|
2240 |
fcount = (float) fc;
|
2241 |
_featureNum += fc; |
2242 |
/////////////////////
|
2243 |
ftex->AttachToFBO(0);
|
2244 |
if(GlobalUtil::_MaxOrientation>1) |
2245 |
{ |
2246 |
ftex->FitRealTexViewPort(); |
2247 |
glClear(GL_COLOR_BUFFER_BIT); |
2248 |
}else
|
2249 |
{ |
2250 |
ftex->FitTexViewPort(); |
2251 |
glFlush(); |
2252 |
} |
2253 |
_keypoint_buffer.resize(ftex->GetDrawWidth() * ftex->GetDrawHeight()*4, 0); |
2254 |
///////////
|
2255 |
glActiveTexture(GL_TEXTURE0); |
2256 |
ftex->BindTex(); |
2257 |
glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, ftex->GetDrawWidth(), |
2258 |
ftex->GetDrawHeight(), GL_RGBA, GL_FLOAT, &_keypoint_buffer[0]);
|
2259 |
htex += 2;
|
2260 |
} |
2261 |
|
2262 |
for(int lev = 1 + hist_skip_gpu; lev < hist_level_num - i; lev++, htex++) |
2263 |
{ |
2264 |
glActiveTexture(GL_TEXTURE0); |
2265 |
ftex->BindTex(); |
2266 |
ftex->AttachToFBO(0);
|
2267 |
glActiveTexture(GL_TEXTURE1); |
2268 |
htex->BindTex(); |
2269 |
ShaderMan::UseShaderGenListStep(ftex->GetTexID(), htex->GetTexID()); |
2270 |
ftex->DrawQuad(); |
2271 |
ftex->DetachFBO(0);
|
2272 |
} |
2273 |
|
2274 |
ftex->AttachToFBO(0);
|
2275 |
glActiveTexture(GL_TEXTURE1); |
2276 |
tex->BindTex(); |
2277 |
ShaderMan::UseShaderGenListEnd(tex->GetTexID()); |
2278 |
ftex->DrawQuad(); |
2279 |
GLTexImage::UnbindMultiTex(2);
|
2280 |
|
2281 |
} |
2282 |
|
2283 |
void PyramidPacked::GenerateFeatureList()
|
2284 |
{ |
2285 |
//generate the histogram pyramid
|
2286 |
FrameBufferObject fbo; |
2287 |
glReadBuffer(GL_COLOR_ATTACHMENT0_EXT); |
2288 |
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
2289 |
double t1, t2;
|
2290 |
int ocount= 0, reverse = (GlobalUtil::_TruncateMethod == 1); |
2291 |
_featureNum = 0;
|
2292 |
|
2293 |
FitHistogramPyramid(); |
2294 |
//for(int i = 0, idx = 0; i < _octave_num; i++)
|
2295 |
FOR_EACH_OCTAVE(i, reverse) |
2296 |
{ |
2297 |
if(GlobalUtil::_timingO)
|
2298 |
{ |
2299 |
t1= CLOCK(); |
2300 |
ocount = 0;
|
2301 |
std::cout<<"#"<<i+_octave_min + _down_sample_factor<<":\t"; |
2302 |
} |
2303 |
//for(int j = 0; j < param._dog_level_num; j++, idx++)
|
2304 |
FOR_EACH_LEVEL(j, reverse) |
2305 |
{ |
2306 |
if(GlobalUtil::_TruncateMethod && GlobalUtil::_FeatureCountThreshold > 0 && _featureNum > GlobalUtil::_FeatureCountThreshold) continue; |
2307 |
|
2308 |
GenerateFeatureList(i, j); |
2309 |
|
2310 |
if(GlobalUtil::_timingO)
|
2311 |
{ |
2312 |
int idx = i * param._dog_level_num + j;
|
2313 |
ocount += _levelFeatureNum[idx]; |
2314 |
std::cout<< _levelFeatureNum[idx] <<"\t";
|
2315 |
} |
2316 |
} |
2317 |
if(GlobalUtil::_timingO)
|
2318 |
{ |
2319 |
t2 = CLOCK(); |
2320 |
std::cout << "| \t" << int(ocount) << " :\t(" << (t2 - t1) << ")\n"; |
2321 |
} |
2322 |
} |
2323 |
if(GlobalUtil::_timingS)glFinish();
|
2324 |
if(GlobalUtil::_verbose)
|
2325 |
{ |
2326 |
std::cout<<"#Features:\t"<<_featureNum<<"\n"; |
2327 |
} |
2328 |
|
2329 |
} |
2330 |
|
2331 |
void PyramidPacked::GenerateFeatureListCPU()
|
2332 |
{ |
2333 |
FrameBufferObject fbo; |
2334 |
_featureNum = 0;
|
2335 |
GLTexImage * tex = GetBaseLevel(_octave_min); |
2336 |
float * mem = new float [tex->GetTexWidth()*tex->GetTexHeight()*4]; |
2337 |
vector<float> list;
|
2338 |
int idx = 0; |
2339 |
for(int i = 0; i < _octave_num; i++) |
2340 |
{ |
2341 |
for(int j = 0; j < param._dog_level_num; j++, idx++) |
2342 |
{ |
2343 |
tex = GetBaseLevel(_octave_min + i, DATA_KEYPOINT) + j + 2;
|
2344 |
tex->BindTex(); |
2345 |
glGetTexImage(GlobalUtil::_texTarget, 0, GL_RGBA, GL_FLOAT, mem);
|
2346 |
//tex->AttachToFBO(0);
|
2347 |
//tex->FitTexViewPort();
|
2348 |
//glReadPixels(0, 0, tex->GetTexWidth(), tex->GetTexHeight(), GL_RED, GL_FLOAT, mem);
|
2349 |
//
|
2350 |
//make a list of
|
2351 |
list.resize(0);
|
2352 |
float *pl = mem;
|
2353 |
int fcount = 0 ; |
2354 |
for(int k = 0; k < tex->GetDrawHeight(); k++) |
2355 |
{ |
2356 |
float * p = pl;
|
2357 |
pl += tex->GetTexWidth() * 4;
|
2358 |
for( int m = 0; m < tex->GetDrawWidth(); m ++, p+=4) |
2359 |
{ |
2360 |
// if(m ==0 || k ==0 || k == tex->GetDrawHeight() -1 || m == tex->GetDrawWidth() -1) continue;
|
2361 |
// if(*p == 0) continue;
|
2362 |
int t = ((int) fabs(p[0])) - 1; |
2363 |
if(t < 0) continue; |
2364 |
int xx = m + m + ( (t %2)? 1 : 0); |
2365 |
int yy = k + k + ( (t <2)? 0 : 1); |
2366 |
if(xx ==0 || yy == 0) continue; |
2367 |
if(xx >= tex->GetImgWidth() - 1 || yy >= tex->GetImgHeight() - 1)continue; |
2368 |
list.push_back(xx + 0.5f + p[1]); |
2369 |
list.push_back(yy + 0.5f + p[2]); |
2370 |
list.push_back(GlobalUtil::_KeepExtremumSign && p[0] < 0 ? -1.0f : 1.0f); |
2371 |
list.push_back(p[3]);
|
2372 |
fcount ++; |
2373 |
} |
2374 |
} |
2375 |
if(fcount==0)continue; |
2376 |
|
2377 |
if(GlobalUtil::_timingL) std::cout<<fcount<<"."; |
2378 |
|
2379 |
GLTexImage * ftex = _featureTex+idx; |
2380 |
_levelFeatureNum[idx] = (fcount); |
2381 |
SetLevelFeatureNum(idx, fcount); |
2382 |
|
2383 |
_featureNum += (fcount); |
2384 |
|
2385 |
|
2386 |
int fw = ftex->GetImgWidth();
|
2387 |
int fh = ftex->GetImgHeight();
|
2388 |
|
2389 |
list.resize(4*fh*fw);
|
2390 |
|
2391 |
ftex->BindTex(); |
2392 |
ftex->AttachToFBO(0);
|
2393 |
// glTexImage2D(GlobalUtil::_texTarget, 0, GlobalUtil::_iTexFormat, fw, fh, 0, GL_BGRA, GL_FLOAT, &list[0]);
|
2394 |
glTexSubImage2D(GlobalUtil::_texTarget, 0, 0, 0, fw, fh, GL_RGBA, GL_FLOAT, &list[0]); |
2395 |
//
|
2396 |
} |
2397 |
} |
2398 |
GLTexImage::UnbindTex(); |
2399 |
delete mem;
|
2400 |
if(GlobalUtil::_verbose)
|
2401 |
{ |
2402 |
std::cout<<"#Features:\t"<<_featureNum<<"\n"; |
2403 |
} |
2404 |
} |
2405 |
|
2406 |
|
2407 |
|
2408 |
void PyramidPacked::GetFeatureOrientations()
|
2409 |
{ |
2410 |
GLTexImage * gtex, * otex; |
2411 |
GLTexImage * ftex = _featureTex; |
2412 |
GLTexImage * fotex = _orientationTex; |
2413 |
int * count = _levelFeatureNum;
|
2414 |
float sigma, sigma_step = powf(2.0f, 1.0f/param._dog_level_num); |
2415 |
|
2416 |
|
2417 |
FrameBufferObject fbo; |
2418 |
if(_orientationTex)
|
2419 |
{ |
2420 |
GLenum buffers[] = { GL_COLOR_ATTACHMENT0_EXT, GL_COLOR_ATTACHMENT1_EXT }; |
2421 |
glDrawBuffers(2, buffers);
|
2422 |
}else
|
2423 |
{ |
2424 |
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
2425 |
} |
2426 |
|
2427 |
for(int i = 0; i < _octave_num; i++) |
2428 |
{ |
2429 |
gtex = GetBaseLevel(i+_octave_min, DATA_GRAD) + 1;
|
2430 |
otex = GetBaseLevel(i+_octave_min, DATA_ROT) + 1;
|
2431 |
|
2432 |
for(int j = 0; j < param._dog_level_num; j++, ftex++, otex++, count++, gtex++, fotex++) |
2433 |
{ |
2434 |
if(*count<=0)continue; |
2435 |
|
2436 |
sigma = param.GetLevelSigma(j+param._level_min+1);
|
2437 |
|
2438 |
|
2439 |
ftex->FitTexViewPort(); |
2440 |
|
2441 |
glActiveTexture(GL_TEXTURE0); |
2442 |
ftex->BindTex(); |
2443 |
glActiveTexture(GL_TEXTURE1); |
2444 |
gtex->BindTex(); |
2445 |
glActiveTexture(GL_TEXTURE2); |
2446 |
otex->BindTex(); |
2447 |
//
|
2448 |
ftex->AttachToFBO(0);
|
2449 |
if(_orientationTex) fotex->AttachToFBO(1); |
2450 |
|
2451 |
ShaderMan::UseShaderOrientation(gtex->GetTexID(), |
2452 |
gtex->GetImgWidth(), gtex->GetImgHeight(), |
2453 |
sigma, otex->GetTexID(), sigma_step, _existing_keypoints); |
2454 |
ftex->DrawQuad(); |
2455 |
} |
2456 |
} |
2457 |
|
2458 |
GLTexImage::UnbindMultiTex(3);
|
2459 |
if(GlobalUtil::_timingS)glFinish();
|
2460 |
if(_orientationTex) fbo.UnattachTex(GL_COLOR_ATTACHMENT1_EXT);
|
2461 |
|
2462 |
} |
2463 |
|
2464 |
|
2465 |
void PyramidPacked::GetSimplifiedOrientation()
|
2466 |
{ |
2467 |
//
|
2468 |
int idx = 0; |
2469 |
// int n = _octave_num * param._dog_level_num;
|
2470 |
float sigma, sigma_step = powf(2.0f, 1.0f/param._dog_level_num); |
2471 |
GLTexImage * ftex = _featureTex; |
2472 |
|
2473 |
FrameBufferObject fbo; |
2474 |
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT); |
2475 |
for(int i = 0; i < _octave_num; i++) |
2476 |
{ |
2477 |
GLTexImage *otex = GetBaseLevel(i + _octave_min, DATA_ROT) + 2;
|
2478 |
for(int j = 0; j < param._dog_level_num; j++, ftex++, otex++, idx ++) |
2479 |
{ |
2480 |
if(_levelFeatureNum[idx]<=0)continue; |
2481 |
sigma = param.GetLevelSigma(j+param._level_min+1);
|
2482 |
//
|
2483 |
ftex->AttachToFBO(0);
|
2484 |
ftex->FitTexViewPort(); |
2485 |
|
2486 |
glActiveTexture(GL_TEXTURE0); |
2487 |
ftex->BindTex(); |
2488 |
glActiveTexture(GL_TEXTURE1); |
2489 |
otex->BindTex(); |
2490 |
|
2491 |
ShaderMan::UseShaderSimpleOrientation(otex->GetTexID(), sigma, sigma_step); |
2492 |
ftex->DrawQuad(); |
2493 |
} |
2494 |
} |
2495 |
GLTexImage::UnbindMultiTex(2);
|
2496 |
} |
2497 |
|
2498 |
void PyramidPacked::InitPyramid(int w, int h, int ds) |
2499 |
{ |
2500 |
int wp, hp, toobig = 0; |
2501 |
if(ds == 0) |
2502 |
{ |
2503 |
_down_sample_factor = 0;
|
2504 |
if(GlobalUtil::_octave_min_default>=0) |
2505 |
{ |
2506 |
wp = w >> GlobalUtil::_octave_min_default; |
2507 |
hp = h >> GlobalUtil::_octave_min_default; |
2508 |
}else
|
2509 |
{ |
2510 |
wp = w << (-GlobalUtil::_octave_min_default); |
2511 |
hp = h << (-GlobalUtil::_octave_min_default); |
2512 |
} |
2513 |
_octave_min = _octave_min_default; |
2514 |
}else
|
2515 |
{ |
2516 |
//must use 0 as _octave_min;
|
2517 |
_octave_min = 0;
|
2518 |
_down_sample_factor = ds; |
2519 |
w >>= ds; |
2520 |
h >>= ds; |
2521 |
wp = w; |
2522 |
hp = h; |
2523 |
} |
2524 |
|
2525 |
while(wp > GlobalUtil::_texMaxDim || hp > GlobalUtil::_texMaxDim )
|
2526 |
{ |
2527 |
_octave_min ++; |
2528 |
wp >>= 1;
|
2529 |
hp >>= 1;
|
2530 |
toobig = 1;
|
2531 |
} |
2532 |
if(toobig && GlobalUtil::_verbose && _octave_min > 0) |
2533 |
{ |
2534 |
|
2535 |
std::cout<< "**************************************************************\n"
|
2536 |
"Image larger than allowed dimension, data will be downsampled!\n"
|
2537 |
"use -maxd to change the settings\n"
|
2538 |
"***************************************************************\n";
|
2539 |
} |
2540 |
|
2541 |
if( wp == _pyramid_width && hp == _pyramid_height && _allocated )
|
2542 |
{ |
2543 |
FitPyramid(wp, hp); |
2544 |
}else if(GlobalUtil::_ForceTightPyramid || _allocated ==0) |
2545 |
{ |
2546 |
ResizePyramid(wp, hp); |
2547 |
} |
2548 |
else if( wp > _pyramid_width || hp > _pyramid_height ) |
2549 |
{ |
2550 |
ResizePyramid(max(wp, _pyramid_width), max(hp, _pyramid_height)); |
2551 |
if(wp < _pyramid_width || hp < _pyramid_height) FitPyramid(wp, hp);
|
2552 |
} |
2553 |
else
|
2554 |
{ |
2555 |
//try use the pyramid allocated for large image on small input images
|
2556 |
FitPyramid(wp, hp); |
2557 |
} |
2558 |
|
2559 |
//select the initial smoothing filter according to the new _octave_min
|
2560 |
ShaderMan::SelectInitialSmoothingFilter(_octave_min + _down_sample_factor, param); |
2561 |
} |
2562 |
|
2563 |
|
2564 |
|
2565 |
void PyramidPacked::FitPyramid(int w, int h) |
2566 |
{ |
2567 |
//(w, h) <= (_pyramid_width, _pyramid_height);
|
2568 |
|
2569 |
_pyramid_octave_first = 0;
|
2570 |
//
|
2571 |
_octave_num = GlobalUtil::_octave_num_default; |
2572 |
|
2573 |
int _octave_num_max = GetRequiredOctaveNum(min(w, h));
|
2574 |
|
2575 |
if(_octave_num < 1 || _octave_num > _octave_num_max) |
2576 |
{ |
2577 |
_octave_num = _octave_num_max; |
2578 |
} |
2579 |
|
2580 |
|
2581 |
int pw = _pyramid_width>>1, ph = _pyramid_height>>1; |
2582 |
while(_pyramid_octave_first + _octave_num < _pyramid_octave_num &&
|
2583 |
pw >= w && ph >= h) |
2584 |
{ |
2585 |
_pyramid_octave_first++; |
2586 |
pw >>= 1;
|
2587 |
ph >>= 1;
|
2588 |
} |
2589 |
|
2590 |
for(int i = 0; i < _octave_num; i++) |
2591 |
{ |
2592 |
GLTexImage * tex = GetBaseLevel(i + _octave_min); |
2593 |
GLTexImage * dog = GetBaseLevel(i + _octave_min, DATA_DOG); |
2594 |
GLTexImage * grd = GetBaseLevel(i + _octave_min, DATA_GRAD); |
2595 |
GLTexImage * rot = GetBaseLevel(i + _octave_min, DATA_ROT); |
2596 |
GLTexImage * key = GetBaseLevel(i + _octave_min, DATA_KEYPOINT); |
2597 |
for(int j = param._level_min; j <= param._level_max; j++, tex++, dog++, grd++, rot++, key++) |
2598 |
{ |
2599 |
tex->SetImageSize(w, h); |
2600 |
if(j == param._level_min) continue; |
2601 |
dog->SetImageSize(w, h); |
2602 |
grd->SetImageSize(w, h); |
2603 |
rot->SetImageSize(w, h); |
2604 |
if(j == param._level_min + 1 || j == param._level_max) continue; |
2605 |
key->SetImageSize(w, h); |
2606 |
} |
2607 |
w>>=1;
|
2608 |
h>>=1;
|
2609 |
} |
2610 |
} |
2611 |
|
2612 |
|
2613 |
void PyramidPacked::ResizePyramid( int w, int h) |
2614 |
{ |
2615 |
//
|
2616 |
unsigned int totalkb = 0; |
2617 |
int _octave_num_new, input_sz, i, j;
|
2618 |
//
|
2619 |
|
2620 |
if(_pyramid_width == w && _pyramid_height == h && _allocated) return; |
2621 |
|
2622 |
if(w > GlobalUtil::_texMaxDim || h > GlobalUtil::_texMaxDim) return ; |
2623 |
|
2624 |
if(GlobalUtil::_verbose && GlobalUtil::_timingS) std::cout<<"[Allocate Pyramid]:\t" <<w<<"x"<<h<<endl; |
2625 |
//first octave does not change
|
2626 |
_pyramid_octave_first = 0;
|
2627 |
|
2628 |
|
2629 |
//compute # of octaves
|
2630 |
|
2631 |
input_sz = min(w,h) ; |
2632 |
_pyramid_width = w; |
2633 |
_pyramid_height = h; |
2634 |
|
2635 |
//reset to preset parameters
|
2636 |
_octave_num_new = GlobalUtil::_octave_num_default; |
2637 |
|
2638 |
if(_octave_num_new < 1) _octave_num_new = GetRequiredOctaveNum(input_sz) ; |
2639 |
|
2640 |
|
2641 |
if(_pyramid_octave_num != _octave_num_new)
|
2642 |
{ |
2643 |
//destroy the original pyramid if the # of octave changes
|
2644 |
if(_octave_num >0) |
2645 |
{ |
2646 |
DestroyPerLevelData(); |
2647 |
DestroyPyramidData(); |
2648 |
} |
2649 |
_pyramid_octave_num = _octave_num_new; |
2650 |
} |
2651 |
|
2652 |
_octave_num = _pyramid_octave_num; |
2653 |
|
2654 |
int noct = _octave_num;
|
2655 |
int nlev = param._level_num;
|
2656 |
|
2657 |
// //initialize the pyramid
|
2658 |
if(_allPyramid==NULL) _allPyramid = new GLTexPacked[ noct* nlev * DATA_NUM]; |
2659 |
|
2660 |
|
2661 |
GLTexPacked * gus = (GLTexPacked *) GetBaseLevel(_octave_min, DATA_GAUSSIAN); |
2662 |
GLTexPacked * dog = (GLTexPacked *) GetBaseLevel(_octave_min, DATA_DOG); |
2663 |
GLTexPacked * grd = (GLTexPacked *) GetBaseLevel(_octave_min, DATA_GRAD); |
2664 |
GLTexPacked * rot = (GLTexPacked *) GetBaseLevel(_octave_min, DATA_ROT); |
2665 |
GLTexPacked * key = (GLTexPacked *) GetBaseLevel(_octave_min, DATA_KEYPOINT); |
2666 |
|
2667 |
|
2668 |
////////////there could be "out of memory" happening during the allocation
|
2669 |
|
2670 |
for(i = 0; i< noct; i++) |
2671 |
{ |
2672 |
for( j = 0; j< nlev; j++, gus++, dog++, grd++, rot++, key++) |
2673 |
{ |
2674 |
gus->InitTexture(w, h); |
2675 |
if(j==0)continue; |
2676 |
dog->InitTexture(w, h); |
2677 |
grd->InitTexture(w, h, 0);
|
2678 |
rot->InitTexture(w, h); |
2679 |
if(j<=1 || j >=nlev -1) continue; |
2680 |
key->InitTexture(w, h, 0);
|
2681 |
} |
2682 |
int tsz = (gus -1)->GetTexPixelCount() * 16; |
2683 |
totalkb += ((nlev *5 -6)* tsz / 1024); |
2684 |
//several auxilary textures are not actually required
|
2685 |
w>>=1;
|
2686 |
h>>=1;
|
2687 |
} |
2688 |
|
2689 |
totalkb += ResizeFeatureStorage(); |
2690 |
|
2691 |
_allocated = 1;
|
2692 |
|
2693 |
if(GlobalUtil::_verbose && GlobalUtil::_timingS) std::cout<<"[Allocate Pyramid]:\t" <<(totalkb/1024)<<"MB\n"; |
2694 |
|
2695 |
} |
2696 |
|
2697 |
void PyramidPacked::DestroyPyramidData()
|
2698 |
{ |
2699 |
if(_allPyramid)
|
2700 |
{ |
2701 |
delete [] _allPyramid;
|
2702 |
_allPyramid = NULL;
|
2703 |
} |
2704 |
} |
2705 |
|
2706 |
|
2707 |
GLTexImage* PyramidPacked::GetLevelTexture(int octave, int level, int dataName) |
2708 |
{ |
2709 |
return _allPyramid+ (_pyramid_octave_first + octave - _octave_min) * param._level_num
|
2710 |
+ param._level_num * _pyramid_octave_num * dataName |
2711 |
+ (level - param._level_min); |
2712 |
|
2713 |
} |
2714 |
|
2715 |
GLTexImage* PyramidPacked::GetLevelTexture(int octave, int level) |
2716 |
{ |
2717 |
return _allPyramid+ (_pyramid_octave_first + octave - _octave_min) * param._level_num
|
2718 |
+ (level - param._level_min); |
2719 |
} |
2720 |
|
2721 |
//in the packed implementation( still in progress)
|
2722 |
// DATA_GAUSSIAN, DATA_DOG, DATA_GAD will be stored in different textures.
|
2723 |
|
2724 |
GLTexImage* PyramidPacked::GetBaseLevel(int octave, int dataName) |
2725 |
{ |
2726 |
if(octave <_octave_min || octave > _octave_min + _octave_num) return NULL; |
2727 |
int offset = (_pyramid_octave_first + octave - _octave_min) * param._level_num;
|
2728 |
int num = param._level_num * _pyramid_octave_num;
|
2729 |
return _allPyramid + num *dataName + offset;
|
2730 |
} |
2731 |
|
2732 |
|
2733 |
void PyramidPacked::FitHistogramPyramid()
|
2734 |
{ |
2735 |
GLTexImage * tex, *htex; |
2736 |
int hist_level_num = _hpLevelNum - _pyramid_octave_first;
|
2737 |
|
2738 |
tex = GetBaseLevel(_octave_min , DATA_KEYPOINT) + 2;
|
2739 |
htex = _histoPyramidTex + hist_level_num - 1;
|
2740 |
int w = (tex->GetImgWidth() + 2) >> 2; |
2741 |
int h = (tex->GetImgHeight() + 2)>> 2; |
2742 |
|
2743 |
|
2744 |
//4n+1 -> n; 4n+2,2, 3 -> n+1
|
2745 |
for(int k = 0; k <hist_level_num -1; k++, htex--) |
2746 |
{ |
2747 |
if(htex->GetImgHeight()!= h || htex->GetImgWidth() != w)
|
2748 |
{ |
2749 |
htex->SetImageSize(w, h); |
2750 |
htex->ZeroHistoMargin(); |
2751 |
} |
2752 |
|
2753 |
w = (w + 1)>>1; h = (h + 1) >> 1; |
2754 |
} |
2755 |
} |
2756 |
|