root / rgbdslam / external / siftgpu / src / SiftGPU / SiftGPU.cpp @ 9240aaa3
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////////////////////////////////////////////////////////////////////////////
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// File: SiftGPU.cpp
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// Author: Changchang Wu
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// Description : Implementation of the SIFTGPU classes.
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// SiftGPU: The SiftGPU Tool.
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// SiftGPUEX: SiftGPU + viewer
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// SiftParam: Sift Parameters
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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 <fstream> |
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#include <string> |
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#include <iomanip> |
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#include <vector> |
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#include <algorithm> |
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#include <math.h> |
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#include <time.h> |
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using namespace std; |
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#include "GlobalUtil.h" |
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#include "SiftGPU.h" |
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#include "GLTexImage.h" |
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#include "ShaderMan.h" |
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#include "FrameBufferObject.h" |
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#include "SiftPyramid.h" |
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#include "PyramidGL.h" |
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//CUDA works only with vc8 or higher
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#if defined(CUDA_SIFTGPU_ENABLED)
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#include "PyramidCU.h" |
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#endif
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#if defined(CL_SIFTGPU_ENABLED)
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#include "PyramidCL.h" |
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#endif
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////
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#if defined(_WIN32)
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#include "direct.h" |
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#pragma warning (disable : 4786) |
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#pragma warning (disable : 4996) |
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#else
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//compatible with linux
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#define _stricmp strcasecmp
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#include <stdlib.h> |
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#include <string.h> |
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#endif
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#if !defined(_MAX_PATH)
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#if defined (PATH_MAX)
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#define _MAX_PATH PATH_MAX
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#else
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#define _MAX_PATH 512 |
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#endif
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#endif
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//////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////
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//
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//just want to make this class invisible
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class ImageList:public std::vector<std::string> {}; |
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SiftGPU::SiftGPU(int np)
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{
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_texImage = new GLTexInput;
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_imgpath = new char[_MAX_PATH]; |
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_outpath = new char[_MAX_PATH]; |
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_imgpath[0] = _outpath[0] = 0; |
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_initialized = 0;
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_image_loaded = 0;
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_current = 0;
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_list = new ImageList();
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_pyramid = NULL;
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} |
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SiftGPUEX::SiftGPUEX() |
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{
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_view = _sub_view = 0;
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_view_debug = 0;
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GlobalUtil::_UseSiftGPUEX = 1;
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srand((unsigned int)time(NULL)); |
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RandomizeColor(); |
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} |
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void* SiftGPU::operator new (size_t size){ |
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void * p = malloc(size);
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if (p == 0) |
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{
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const std::bad_alloc ba;
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throw ba;
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} |
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return p;
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} |
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void SiftGPUEX::RandomizeColor()
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{
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float hsv[3] = {0, 0.8f, 1.0f}; |
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for(int i = 0; i < COLOR_NUM*3; i+=3) |
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{
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hsv[0] = (rand()%100)*0.01f; //i/float(COLOR_NUM); |
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HSVtoRGB(hsv, _colors+i); |
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} |
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} |
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SiftGPU::~SiftGPU() |
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{
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if(_pyramid) delete _pyramid; |
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delete _texImage;
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delete _list;
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delete[] _imgpath;
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delete[] _outpath;
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} |
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inline void SiftGPU::InitSiftGPU() |
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{
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if(_initialized || GlobalUtil::_GoodOpenGL ==0) return; |
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//Parse sift parameters
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ParseSiftParam(); |
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#if !defined(CUDA_SIFTGPU_ENABLED)
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if(GlobalUtil::_UseCUDA)
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{
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GlobalUtil::_UseCUDA = 0;
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std::cerr << "---------------------------------------------------------------------------\n"
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<< "CUDA not supported in this binary! To enable it, please use SiftGPU_CUDA_Enable\n"
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<< "solution for VS2005+ or set siftgpu_enable_cuda to 1 in makefile\n"
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<< "----------------------------------------------------------------------------\n";
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} |
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#else
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if(GlobalUtil::_UseCUDA == 0 && GlobalUtil::_UseOpenCL == 0) |
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{
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GlobalUtil::InitGLParam(0);
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} |
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if(GlobalUtil::_GoodOpenGL == 0) |
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{
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GlobalUtil::_UseCUDA = 1;
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std::cerr << "Switch from OpenGL to CUDA\n";
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} |
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if(GlobalUtil::_UseCUDA && !PyramidCU::CheckCudaDevice(GlobalUtil::_DeviceIndex))
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{
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std::cerr << "Switch from CUDA to OpenGL\n";
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GlobalUtil::_UseCUDA = 0;
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} |
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#endif
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if(GlobalUtil::_verbose) std::cout <<"\n[SiftGPU Language]:\t" |
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<< (GlobalUtil::_UseCUDA? "CUDA" :
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(GlobalUtil::_UseOpenCL? "OpenCL" : "GLSL")) <<"\n"; |
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#if defined(CUDA_SIFTGPU_ENABLED)
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if(GlobalUtil::_UseCUDA)
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_pyramid = new PyramidCU(*this); |
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else
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#endif
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#if defined(CL_SIFTGPU_ENABLED)
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if(GlobalUtil::_UseOpenCL)
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_pyramid = new PyramidCL(*this); |
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else
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#endif
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if(GlobalUtil::_usePackedTex) {
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_pyramid = new PyramidPacked(*this); |
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} |
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else
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_pyramid = new PyramidNaive(*this); |
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if(GlobalUtil::_GoodOpenGL && GlobalUtil::_InitPyramidWidth > 0 && GlobalUtil::_InitPyramidHeight > 0) |
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{
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GlobalUtil::StartTimer("Initialize Pyramids");
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_pyramid->InitPyramid(GlobalUtil::_InitPyramidWidth, GlobalUtil::_InitPyramidHeight, 0);
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GlobalUtil::StopTimer(); |
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} |
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ClockTimer::InitHighResolution(); |
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_initialized = 1;
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} |
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int SiftGPU::RunSIFT(int index) |
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{
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if(_list->size()>0 ) |
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{
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index = index % _list->size(); |
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if(strcmp(_imgpath, _list->at(index).data()))
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{
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strcpy(_imgpath, _list->at(index).data()); |
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_image_loaded = 0;
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_current = index; |
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} |
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return RunSIFT();
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}else
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{
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return 0; |
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} |
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} |
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int SiftGPU::RunSIFT( int width, int height, const void * data, unsigned int gl_format, unsigned int gl_type) |
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{
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//makes opengl context active
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//GlobalUtil::CreateWindowEZ();
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if(GlobalUtil::_GoodOpenGL ==0 ) return 0; |
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if(!_initialized) {
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InitSiftGPU(); |
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} |
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else {
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GlobalUtil::SetGLParam(); |
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} |
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if(GlobalUtil::_GoodOpenGL ==0 ) return 0; |
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if(width > 0 && height >0 && data != NULL) |
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{
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_imgpath[0] = 0; |
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//try downsample the image on CPU
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GlobalUtil::StartTimer("Upload Image data");
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if(_texImage->SetImageData(width, height, data, gl_format, gl_type))
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{
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_image_loaded = 2; //gldata; |
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GlobalUtil::StopTimer(); |
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_timing[0] = GlobalUtil::GetElapsedTime();
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//if the size of image is different, the pyramid need to be reallocated.
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GlobalUtil::StartTimer("Initialize Pyramid");
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_pyramid->InitPyramid(width, height, _texImage->_down_sampled); |
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GlobalUtil::StopTimer(); |
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_timing[1] = GlobalUtil::GetElapsedTime();
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return RunSIFT();
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}else
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{
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return 0; |
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} |
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}else
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{
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return 0; |
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} |
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} |
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int SiftGPU::RunSIFT(const char * imgpath) |
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{
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if(imgpath && imgpath[0]) |
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{
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//set the new image
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strcpy(_imgpath, imgpath); |
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_image_loaded = 0;
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return RunSIFT();
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}else
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{
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return 0; |
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} |
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} |
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int SiftGPU::RunSIFT(int num, const SiftKeypoint * keys, int keys_have_orientation) |
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{
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if(num <=0) return 0; |
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_pyramid->SetKeypointList(num, (const float*) keys, 1, keys_have_orientation); |
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return RunSIFT();
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} |
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int SiftGPU::RunSIFT()
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{
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//check image data
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if(_imgpath[0]==0 && _image_loaded == 0) return 0; |
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//check OpenGL support
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if(GlobalUtil::_GoodOpenGL ==0 ) return 0; |
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ClockTimer timer; |
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if(!_initialized)
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{
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//initialize SIFT GPU for once
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InitSiftGPU(); |
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if(GlobalUtil::_GoodOpenGL ==0 ) return 0; |
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}else
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{
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//in case some OpenGL parameters are changed by users
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GlobalUtil::SetGLParam(); |
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} |
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timer.StartTimer("RUN SIFT");
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//process input image file
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if( _image_loaded ==0) |
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{
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int width, height;
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//load and try down-sample on cpu
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GlobalUtil::StartTimer("Load Input Image");
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if(!_texImage->LoadImageFile(_imgpath, width, height)) return 0; |
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_image_loaded = 1;
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GlobalUtil::StopTimer(); |
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_timing[0] = GlobalUtil::GetElapsedTime();
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//make sure the pyrmid can hold the new image.
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GlobalUtil::StartTimer("Initialize Pyramid");
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_pyramid->InitPyramid(width, height, _texImage->_down_sampled); |
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GlobalUtil::StopTimer(); |
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_timing[1] = GlobalUtil::GetElapsedTime();
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}else
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{
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//change some global states
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if(!GlobalUtil::_UseCUDA && !GlobalUtil::_UseOpenCL)
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{
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GlobalUtil::FitViewPort(1,1); |
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_texImage->FitTexViewPort(); |
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} |
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if(_image_loaded == 1) |
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{
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_timing[0] = _timing[1] = 0; |
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}else
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{//2
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_image_loaded = 1;
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} |
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} |
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if(_pyramid->_allocated ==0 ) return 0; |
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#ifdef DEBUG_SIFTGPU
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_pyramid->BeginDEBUG(_imgpath); |
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#endif
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//process the image
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_pyramid->RunSIFT(_texImage); |
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//read back the timing
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_pyramid->GetPyramidTiming(_timing + 2);
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//write output once if there is only one input
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if(_outpath[0] ){ SaveSIFT(_outpath); _outpath[0] = 0;} |
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//terminate the process when -exit is provided.
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if(GlobalUtil::_ExitAfterSIFT && GlobalUtil::_UseSiftGPUEX) exit(0); |
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timer.StopTimer(); |
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if(GlobalUtil::_verbose)std::cout<<endl;
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return _pyramid->GetSucessStatus();
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} |
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void SiftGPU::SetKeypointList(int num, const SiftKeypoint * keys, int keys_have_orientation) |
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{
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_pyramid->SetKeypointList(num, (const float*)keys, 0, keys_have_orientation); |
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} |
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void SiftGPUEX::DisplayInput()
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{
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if(_texImage==NULL) return; |
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_texImage->VerifyTexture(); |
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_texImage->BindTex(); |
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_texImage->DrawImage(); |
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_texImage->UnbindTex(); |
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} |
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void SiftGPU::SetVerbose(int verbose) |
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{
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GlobalUtil::_timingO = verbose>2;
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GlobalUtil::_timingL = verbose>3;
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if(verbose == -1) |
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{
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//Loop between verbose level 0, 1, 2
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if(GlobalUtil::_verbose)
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{
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GlobalUtil::_verbose = GlobalUtil::_timingS; |
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GlobalUtil::_timingS = 0;
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if(GlobalUtil::_verbose ==0 && GlobalUtil::_UseSiftGPUEX) |
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std::cout << "Console ouput disabled, press Q/V to enable\n\n";
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}else
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{
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GlobalUtil::_verbose = 1;
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GlobalUtil::_timingS = 1;
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} |
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}else if(verbose == -2) |
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{
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//trick for disabling all output (still keeps the timing level)
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GlobalUtil::_verbose = 0;
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GlobalUtil::_timingS = 1;
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}else
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{
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GlobalUtil::_verbose = verbose>0;
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GlobalUtil::_timingS = verbose>1;
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} |
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} |
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SiftParam::SiftParam() |
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{
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_level_min = -1;
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_dog_level_num = 3;
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_level_max = 0;
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_sigma0 = 0;
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_sigman = 0;
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_edge_threshold = 0;
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_dog_threshold = 0;
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} |
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float SiftParam::GetInitialSmoothSigma(int octave_min) |
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{
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float sa = _sigma0 * powf(2.0f, float(_level_min)/float(_dog_level_num)) ; |
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float sb = _sigman / powf(2.0f, float(octave_min)) ;// |
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float sigma_skip0 = sa > sb + 0.001?sqrt(sa*sa - sb*sb): 0.0f; |
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return sigma_skip0;
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} |
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void SiftParam::ParseSiftParam()
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{
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if(_dog_level_num ==0) _dog_level_num = 3; |
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if(_level_max ==0) _level_max = _dog_level_num + 1; |
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if(_sigma0 ==0.0f) _sigma0 = 1.6f * powf(2.0f, 1.0f / _dog_level_num) ; |
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if(_sigman == 0.0f) _sigman = 0.5f; |
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_level_num = _level_max -_level_min + 1;
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_level_ds = _level_min + _dog_level_num; |
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if(_level_ds > _level_max ) _level_ds = _level_max ;
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///
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float _sigmak = powf(2.0f, 1.0f / _dog_level_num) ; |
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float dsigma0 = _sigma0 * sqrt (1.0f - 1.0f / (_sigmak*_sigmak) ) ; |
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float sa, sb;
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sa = _sigma0 * powf(_sigmak, (float)_level_min) ;
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sb = _sigman / powf(2.0f, (float)GlobalUtil::_octave_min_default) ;// |
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_sigma_skip0 = sa>sb+ 0.001?sqrt(sa*sa - sb*sb): 0.0f; |
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sa = _sigma0 * powf(_sigmak, float(_level_min )) ;
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sb = _sigma0 * powf(_sigmak, float(_level_ds - _dog_level_num)) ;
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_sigma_skip1 = sa>sb + 0.001? sqrt(sa*sa - sb*sb): 0.0f; |
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_sigma_num = _level_max - _level_min; |
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_sigma = new float[_sigma_num]; |
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for(int i = _level_min + 1; i <= _level_max; i++) |
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{
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_sigma[i-_level_min -1] = dsigma0 * powf(_sigmak, float(i)) ; |
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} |
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if(_dog_threshold ==0) _dog_threshold = 0.02f / _dog_level_num ; |
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if(_edge_threshold==0) _edge_threshold = 10.0f; |
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} |
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void SiftGPUEX::DisplayOctave(void (*UseDisplayShader)(), int i) |
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{
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if(_pyramid == NULL)return; |
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const int grid_sz = (int)ceil(_level_num/2.0); |
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double scale = 1.0/grid_sz ; |
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int gx=0, gy=0, dx, dy; |
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if(_pyramid->_octave_min >0) scale *= (1<<_pyramid->_octave_min); |
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else if(_pyramid->_octave_min < 0) scale /= (1<<(-_pyramid->_octave_min)); |
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i = i% _pyramid->_octave_num; //
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if(i<0 ) i+= _pyramid->_octave_num; |
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scale *= ( 1<<(i));
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UseDisplayShader(); |
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glPushMatrix(); |
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glScaled(scale, scale, scale); |
| 502 |
for(int level = _level_min; level<= _level_max; level++) |
| 503 |
{
|
| 504 |
GLTexImage * tex = _pyramid->GetLevelTexture(i+_pyramid->_octave_min, level); |
| 505 |
dx = tex->GetImgWidth(); |
| 506 |
dy = tex->GetImgHeight(); |
| 507 |
|
| 508 |
glPushMatrix(); |
| 509 |
|
| 510 |
glTranslated(dx*gx, dy*gy, 0);
|
| 511 |
|
| 512 |
tex->BindTex(); |
| 513 |
|
| 514 |
tex->DrawImage(); |
| 515 |
tex->UnbindTex(); |
| 516 |
|
| 517 |
glPopMatrix(); |
| 518 |
|
| 519 |
gx++; |
| 520 |
if(gx>=grid_sz)
|
| 521 |
{
|
| 522 |
gx =0;
|
| 523 |
gy++; |
| 524 |
} |
| 525 |
|
| 526 |
} |
| 527 |
|
| 528 |
glPopMatrix(); |
| 529 |
ShaderMan::UnloadProgram(); |
| 530 |
} |
| 531 |
|
| 532 |
void SiftGPUEX::DisplayPyramid( void (*UseDisplayShader)(), int dataName, int nskip1, int nskip2) |
| 533 |
{
|
| 534 |
|
| 535 |
if(_pyramid == NULL)return; |
| 536 |
int grid_sz = (_level_num -nskip1 - nskip2);
|
| 537 |
if(grid_sz > 4) grid_sz = (int)ceil(grid_sz*0.5); |
| 538 |
double scale = 1.0/grid_sz; |
| 539 |
int stepx = 0, stepy = 0, dx, dy=0, nstep; |
| 540 |
|
| 541 |
if(_pyramid->_octave_min >0) scale *= (1<<_pyramid->_octave_min); |
| 542 |
else if(_pyramid->_octave_min < 0) scale /= (1<<(-_pyramid->_octave_min)); |
| 543 |
|
| 544 |
|
| 545 |
glPushMatrix(); |
| 546 |
glScaled(scale, scale, scale); |
| 547 |
|
| 548 |
for(int i = _pyramid->_octave_min; i < _pyramid->_octave_min+_pyramid->_octave_num; i++) |
| 549 |
{
|
| 550 |
|
| 551 |
nstep = i==_pyramid->_octave_min? grid_sz: _level_num; |
| 552 |
dx = 0;
|
| 553 |
UseDisplayShader(); |
| 554 |
for(int j = _level_min + nskip1; j <= _level_max-nskip2; j++) |
| 555 |
{
|
| 556 |
GLTexImage * tex = _pyramid->GetLevelTexture(i, j, dataName); |
| 557 |
if(tex->GetImgWidth() == 0 || tex->GetImgHeight() == 0) continue; |
| 558 |
stepx = tex->GetImgWidth(); |
| 559 |
stepy = tex->GetImgHeight(); |
| 560 |
////
|
| 561 |
if(j == _level_min + nskip1 + nstep)
|
| 562 |
{
|
| 563 |
dy += stepy; |
| 564 |
dx = 0;
|
| 565 |
} |
| 566 |
|
| 567 |
glPushMatrix(); |
| 568 |
glTranslated(dx, dy, 0);
|
| 569 |
tex->BindTex(); |
| 570 |
tex->DrawImage(); |
| 571 |
tex->UnbindTex(); |
| 572 |
glPopMatrix(); |
| 573 |
|
| 574 |
dx += stepx; |
| 575 |
|
| 576 |
} |
| 577 |
|
| 578 |
ShaderMan::UnloadProgram(); |
| 579 |
|
| 580 |
dy+= stepy; |
| 581 |
} |
| 582 |
|
| 583 |
glPopMatrix(); |
| 584 |
} |
| 585 |
|
| 586 |
|
| 587 |
void SiftGPUEX::DisplayLevel(void (*UseDisplayShader)(), int i) |
| 588 |
{
|
| 589 |
if(_pyramid == NULL)return; |
| 590 |
|
| 591 |
i = i%(_level_num * _pyramid->_octave_num); |
| 592 |
if (i<0 ) i+= (_level_num * _pyramid->_octave_num); |
| 593 |
int octave = _pyramid->_octave_min + i/_level_num;
|
| 594 |
int level = _level_min + i%_level_num;
|
| 595 |
double scale = 1.0; |
| 596 |
|
| 597 |
if(octave >0) scale *= (1<<octave); |
| 598 |
else if(octave < 0) scale /= (1<<(-octave)); |
| 599 |
|
| 600 |
GLTexImage * tex = _pyramid->GetLevelTexture(octave, level); |
| 601 |
|
| 602 |
UseDisplayShader(); |
| 603 |
|
| 604 |
glPushMatrix(); |
| 605 |
glScaled(scale, scale, scale); |
| 606 |
tex->BindTex(); |
| 607 |
tex->DrawImage(); |
| 608 |
tex->UnbindTex(); |
| 609 |
glPopMatrix(); |
| 610 |
ShaderMan::UnloadProgram(); |
| 611 |
} |
| 612 |
|
| 613 |
void SiftGPUEX::DisplaySIFT()
|
| 614 |
{
|
| 615 |
if(_pyramid == NULL) return; |
| 616 |
glEnable(GlobalUtil::_texTarget); |
| 617 |
switch(_view)
|
| 618 |
{
|
| 619 |
case 0: |
| 620 |
DisplayInput(); |
| 621 |
DisplayFeatureBox(_sub_view); |
| 622 |
break;
|
| 623 |
case 1: |
| 624 |
DisplayPyramid(ShaderMan::UseShaderDisplayGaussian, SiftPyramid::DATA_GAUSSIAN); |
| 625 |
break;
|
| 626 |
case 2: |
| 627 |
DisplayOctave(ShaderMan::UseShaderDisplayGaussian, _sub_view); |
| 628 |
break;
|
| 629 |
case 3: |
| 630 |
DisplayLevel(ShaderMan::UseShaderDisplayGaussian, _sub_view); |
| 631 |
break;
|
| 632 |
case 4: |
| 633 |
DisplayPyramid(ShaderMan::UseShaderDisplayDOG, SiftPyramid::DATA_DOG, 1);
|
| 634 |
break;
|
| 635 |
case 5: |
| 636 |
DisplayPyramid(ShaderMan::UseShaderDisplayGrad, SiftPyramid::DATA_GRAD, 1);
|
| 637 |
break;
|
| 638 |
case 6: |
| 639 |
DisplayPyramid(ShaderMan::UseShaderDisplayDOG, SiftPyramid::DATA_DOG,2, 1); |
| 640 |
DisplayPyramid(ShaderMan::UseShaderDisplayKeypoints, SiftPyramid::DATA_KEYPOINT, 2,1); |
| 641 |
} |
| 642 |
} |
| 643 |
|
| 644 |
|
| 645 |
void SiftGPUEX::SetView(int view, int sub_view, char *title) |
| 646 |
{
|
| 647 |
const char* view_titles[] = |
| 648 |
{
|
| 649 |
"Original Image",
|
| 650 |
"Gaussian Pyramid",
|
| 651 |
"Octave Images",
|
| 652 |
"Level Image",
|
| 653 |
"Difference of Gaussian",
|
| 654 |
"Gradient",
|
| 655 |
"Keypoints"
|
| 656 |
}; |
| 657 |
const int view_num = 7; |
| 658 |
_view = view % view_num; |
| 659 |
if(_view <0) _view +=view_num; |
| 660 |
_sub_view = sub_view; |
| 661 |
|
| 662 |
if(_view_debug)
|
| 663 |
strcpy(title, "Debug...");
|
| 664 |
else
|
| 665 |
strcpy(title, view_titles[_view]); |
| 666 |
|
| 667 |
} |
| 668 |
|
| 669 |
|
| 670 |
void SiftGPU::PrintUsage()
|
| 671 |
{
|
| 672 |
std::cout |
| 673 |
<<"SiftGPU Usage:\n"
|
| 674 |
<<"-h -help : Parameter information\n"
|
| 675 |
<<"-i <strings> : Filename(s) of the input image(s)\n"
|
| 676 |
<<"-il <string> : Filename of an image list file\n"
|
| 677 |
<<"-o <string> : Where to save SIFT features\n"
|
| 678 |
<<"-f <float> : Filter width factor; Width will be 2*factor+1 (default : 4.0)\n"
|
| 679 |
<<"-w <float> : Orientation sample window factor (default: 2.0)\n"
|
| 680 |
<<"-dw <float> * : Descriptor grid size factor (default : 3.0)\n"
|
| 681 |
<<"-fo <int> * : First octave to detect DOG keypoints(default : 0)\n"
|
| 682 |
<<"-no <int> : Maximum number of Octaves (default : no limit)\n"
|
| 683 |
<<"-d <int> : Number of DOG levels in an octave (default : 3)\n"
|
| 684 |
<<"-t <float> : DOG threshold (default : 0.02/3)\n"
|
| 685 |
<<"-e <float> : Edge Threshold (default : 10.0)\n"
|
| 686 |
<<"-m <int=2> : Multi Feature Orientations (default : 1)\n"
|
| 687 |
<<"-m2p : 2 Orientations packed as one float\n"
|
| 688 |
<<"-s <int=1> : Sub-Pixel, Sub-Scale Localization, Multi-Refinement(num)\n"
|
| 689 |
<<"-lcpu -lc <int> : CPU/GPU mixed Feature List Generation (defaut : 6)\n"
|
| 690 |
<<" Use GPU first, and use CPU when reduction size <= pow(2,num)\n"
|
| 691 |
<<" When <num> is missing or equals -1, no GPU will be used\n"
|
| 692 |
<<"-noprep : Upload raw data to GPU (default: RGB->LUM and down-sample on CPU)\n"
|
| 693 |
<<"-sd : Skip descriptor computation if specified\n"
|
| 694 |
<<"-unn * : Write unnormalized descriptor if specified\n"
|
| 695 |
<<"-b * : Write binary sift file if specified\n"
|
| 696 |
<<"-fs <int> : Block Size for freature storage <default : 4>\n"
|
| 697 |
<<"-cuda <int=0> : Use CUDA SiftGPU, and specifiy the device index\n"
|
| 698 |
<<"-tight : Automatically resize pyramid to fit new images tightly\n"
|
| 699 |
<<"-p <W>x<H> : Inititialize the pyramids to contain image of WxH (eg -p 1024x768)\n"
|
| 700 |
<<"-lm <int> : Maximum feature count for a level (for pre-allocation)\n"
|
| 701 |
<<"-lmp <float> : Maximum percent of pixels as features (for pre-allocaton)\n"
|
| 702 |
<<"-tc[1|2|3] <int> *: Threshold for limiting the overall number of features (3 methods)\n"
|
| 703 |
<<"-v <int> : Level of timing details. Same as calling Setverbose() function\n"
|
| 704 |
<<"-loweo : (0, 0) at center of top-left pixel (defaut: corner)\n"
|
| 705 |
<<"-maxd <int> * : Max working dimension (default : 2560 (unpacked) / 3200 (packed))\n"
|
| 706 |
<<"-exit : Exit program after processing the input image\n"
|
| 707 |
<<"-unpack : Use the old unpacked implementation\n"
|
| 708 |
<<"-di : Use dynamic array indexing if available (defualt : no)\n"
|
| 709 |
<<" It could make computation faster on cards like GTX 280\n"
|
| 710 |
<<"-ofix * : use 0 as feature orientations.\n"
|
| 711 |
<<"-ofix-not * : disable -ofix.\n"
|
| 712 |
<<"-winpos <X>x<Y> * : Screen coordinate used in Win32 to select monitor/GPU.\n"
|
| 713 |
<<"-display <string>*: Display name used in Linux/Mac to select monitor/GPU.\n"
|
| 714 |
<<"\n"
|
| 715 |
<<"NOTE: parameters marked with * can be changed after initialization\n"
|
| 716 |
<<"\n";
|
| 717 |
} |
| 718 |
|
| 719 |
void SiftGPU::ParseParam(int argc, char **argv) |
| 720 |
{
|
| 721 |
#define CHAR1_TO_INT(x) ((x >= 'A' && x <= 'Z') ? x + 32 : x) |
| 722 |
#define CHAR2_TO_INT(str, i) (str[i] ? CHAR1_TO_INT(str[i]) + (CHAR1_TO_INT(str[i+1]) << 8) : 0) |
| 723 |
#define CHAR3_TO_INT(str, i) (str[i] ? CHAR1_TO_INT(str[i]) + (CHAR2_TO_INT(str, i + 1) << 8) : 0) |
| 724 |
#define STRING_TO_INT(str) (CHAR1_TO_INT(str[0]) + (CHAR3_TO_INT(str, 1) << 8)) |
| 725 |
|
| 726 |
#ifdef _MSC_VER
|
| 727 |
//charizing is microsoft only
|
| 728 |
#define MAKEINT1(a) (#@a ) |
| 729 |
#else
|
| 730 |
#define mychar0 '0' |
| 731 |
#define mychar1 '1' |
| 732 |
#define mychar2 '2' |
| 733 |
#define mychar3 '3' |
| 734 |
#define mychara 'a' |
| 735 |
#define mycharb 'b' |
| 736 |
#define mycharc 'c' |
| 737 |
#define mychard 'd' |
| 738 |
#define mychare 'e' |
| 739 |
#define mycharf 'f' |
| 740 |
#define mycharg 'g' |
| 741 |
#define mycharh 'h' |
| 742 |
#define mychari 'i' |
| 743 |
#define mycharj 'j' |
| 744 |
#define mychark 'k' |
| 745 |
#define mycharl 'l' |
| 746 |
#define mycharm 'm' |
| 747 |
#define mycharn 'n' |
| 748 |
#define mycharo 'o' |
| 749 |
#define mycharp 'p' |
| 750 |
#define mycharq 'q' |
| 751 |
#define mycharr 'r' |
| 752 |
#define mychars 's' |
| 753 |
#define mychart 't' |
| 754 |
#define mycharu 'u' |
| 755 |
#define mycharv 'v' |
| 756 |
#define mycharw 'w' |
| 757 |
#define mycharx 'x' |
| 758 |
#define mychary 'y' |
| 759 |
#define mycharz 'z' |
| 760 |
#define MAKEINT1(a) (mychar##a ) |
| 761 |
#endif
|
| 762 |
#define MAKEINT2(a, b) (MAKEINT1(a) + (MAKEINT1(b) << 8)) |
| 763 |
#define MAKEINT3(a, b, c) (MAKEINT1(a) + (MAKEINT2(b, c) << 8)) |
| 764 |
#define MAKEINT4(a, b, c, d) (MAKEINT1(a) + (MAKEINT3(b, c, d) << 8)) |
| 765 |
|
| 766 |
|
| 767 |
char* arg, *param, * opt;
|
| 768 |
int setMaxD = 0, opti; |
| 769 |
for(int i = 0; i< argc; i++) |
| 770 |
{
|
| 771 |
arg = argv[i]; |
| 772 |
if(arg == NULL || arg[0] != '-' || !arg[1])continue; |
| 773 |
opt = arg+1;
|
| 774 |
opti = STRING_TO_INT(opt); |
| 775 |
param = argv[i+1];
|
| 776 |
|
| 777 |
////////////////////////////////
|
| 778 |
switch(opti)
|
| 779 |
{
|
| 780 |
case MAKEINT1(h):
|
| 781 |
case MAKEINT4(h, e, l, p):
|
| 782 |
PrintUsage(); |
| 783 |
break;
|
| 784 |
case MAKEINT4(c, u, d, a):
|
| 785 |
#if defined(CUDA_SIFTGPU_ENABLED)
|
| 786 |
|
| 787 |
if(!_initialized)
|
| 788 |
{
|
| 789 |
GlobalUtil::_UseCUDA = 1;
|
| 790 |
int device = -1; |
| 791 |
if(i+1 <argc && sscanf(param, "%d", &device) && device >=0) |
| 792 |
{
|
| 793 |
GlobalUtil::_DeviceIndex = device; |
| 794 |
i++; |
| 795 |
} |
| 796 |
} |
| 797 |
#else
|
| 798 |
std::cerr << "---------------------------------------------------------------------------\n"
|
| 799 |
<< "CUDA not supported in this binary! To enable it, please use SiftGPU_CUDA_Enable\n"
|
| 800 |
<< "solution for VS2005+ or set siftgpu_enable_cuda to 1 in makefile\n"
|
| 801 |
<< "----------------------------------------------------------------------------\n";
|
| 802 |
#endif
|
| 803 |
break;
|
| 804 |
case MAKEINT2(c, l):
|
| 805 |
#if defined(CL_SIFTGPU_ENABLED)
|
| 806 |
if(!_initialized) GlobalUtil::_UseOpenCL = 1; |
| 807 |
#else
|
| 808 |
std::cerr << "---------------------------------------------------------------------------\n"
|
| 809 |
<< "OpenCL not supported in this binary! Define CL_CUDA_SIFTGPU_ENABLED to..\n"
|
| 810 |
<< "----------------------------------------------------------------------------\n";
|
| 811 |
#endif
|
| 812 |
break;
|
| 813 |
|
| 814 |
case MAKEINT4(p, a, c, k):
|
| 815 |
if(!_initialized) GlobalUtil::_usePackedTex = 1; |
| 816 |
break;
|
| 817 |
case MAKEINT4(u, n, p, a): //unpack |
| 818 |
if(!_initialized)
|
| 819 |
{
|
| 820 |
GlobalUtil::_usePackedTex = 0;
|
| 821 |
if(!setMaxD) GlobalUtil::_texMaxDim = 2560; |
| 822 |
} |
| 823 |
break;
|
| 824 |
case MAKEINT4(l, c, p, u):
|
| 825 |
case MAKEINT2(l, c):
|
| 826 |
if(!_initialized)
|
| 827 |
{
|
| 828 |
int gskip = -1; |
| 829 |
if(i+1 <argc) sscanf(param, "%d", &gskip); |
| 830 |
if(gskip >= 0) |
| 831 |
{
|
| 832 |
GlobalUtil::_ListGenSkipGPU = gskip; |
| 833 |
}else
|
| 834 |
{
|
| 835 |
GlobalUtil::_ListGenGPU = 0;
|
| 836 |
} |
| 837 |
} |
| 838 |
break;
|
| 839 |
case MAKEINT4(p, r, e, p):
|
| 840 |
GlobalUtil::_PreProcessOnCPU = 1;
|
| 841 |
break;
|
| 842 |
case MAKEINT4(n, o, p, r): //noprep |
| 843 |
GlobalUtil::_PreProcessOnCPU = 0;
|
| 844 |
break;
|
| 845 |
case MAKEINT4(f, b, o, 1): |
| 846 |
FrameBufferObject::UseSingleFBO =1;
|
| 847 |
break;
|
| 848 |
case MAKEINT4(f, b, o, s):
|
| 849 |
FrameBufferObject::UseSingleFBO = 0;
|
| 850 |
break;
|
| 851 |
case MAKEINT2(s, d):
|
| 852 |
if(!_initialized) GlobalUtil::_DescriptorPPT =0; |
| 853 |
break;
|
| 854 |
case MAKEINT3(u, n, n):
|
| 855 |
GlobalUtil::_NormalizedSIFT =0;
|
| 856 |
break;
|
| 857 |
case MAKEINT4(n, d, e, s):
|
| 858 |
GlobalUtil::_NormalizedSIFT =1;
|
| 859 |
break;
|
| 860 |
case MAKEINT1(b):
|
| 861 |
GlobalUtil::_BinarySIFT = 1;
|
| 862 |
break;
|
| 863 |
case MAKEINT4(t, i, g, h): //tight |
| 864 |
GlobalUtil::_ForceTightPyramid = 1;
|
| 865 |
break;
|
| 866 |
case MAKEINT4(e, x, i, t):
|
| 867 |
GlobalUtil::_ExitAfterSIFT = 1;
|
| 868 |
break;
|
| 869 |
case MAKEINT2(d, i):
|
| 870 |
GlobalUtil::_UseDynamicIndexing = 1;
|
| 871 |
break;
|
| 872 |
case MAKEINT4(s, i, g, n):
|
| 873 |
if(!_initialized || GlobalUtil::_UseCUDA) GlobalUtil::_KeepExtremumSign = 1; |
| 874 |
break;
|
| 875 |
case MAKEINT1(m):
|
| 876 |
case MAKEINT2(m, o):
|
| 877 |
if(!_initialized)
|
| 878 |
{
|
| 879 |
int mo = 2; //default multi-orientation |
| 880 |
if(i+1 <argc) sscanf(param, "%d", &mo); |
| 881 |
//at least two orientation
|
| 882 |
GlobalUtil::_MaxOrientation = min(max(1, mo), 4); |
| 883 |
} |
| 884 |
break;
|
| 885 |
case MAKEINT3(m, 2, p): |
| 886 |
if(!_initialized)
|
| 887 |
{
|
| 888 |
GlobalUtil::_MaxOrientation = 2;
|
| 889 |
GlobalUtil::_OrientationPack2 = 1;
|
| 890 |
} |
| 891 |
break;
|
| 892 |
case MAKEINT1(s):
|
| 893 |
if(!_initialized)
|
| 894 |
{
|
| 895 |
int sp = 1; //default refinement |
| 896 |
if(i+1 <argc) sscanf(param, "%d", &sp); |
| 897 |
//at least two orientation
|
| 898 |
GlobalUtil::_SubpixelLocalization = min(max(0, sp),5); |
| 899 |
} |
| 900 |
break;
|
| 901 |
case MAKEINT4(o, f, i, x):
|
| 902 |
GlobalUtil::_FixedOrientation = (_stricmp(opt, "ofix")==0); |
| 903 |
break;
|
| 904 |
case MAKEINT4(l, o, w, e): // loweo |
| 905 |
GlobalUtil::_LoweOrigin = 1;
|
| 906 |
break;
|
| 907 |
case MAKEINT4(n, a, r, r): // narrow |
| 908 |
GlobalUtil::_NarrowFeatureTex = 1;
|
| 909 |
break;
|
| 910 |
case MAKEINT4(d, e, b, u): // debug |
| 911 |
GlobalUtil::_debug = 1;
|
| 912 |
break;
|
| 913 |
case MAKEINT2(k, 0): |
| 914 |
GlobalUtil::_KeyPointListForceLevel0 = 1;
|
| 915 |
break;
|
| 916 |
case MAKEINT2(k, x):
|
| 917 |
GlobalUtil::_KeyPointListForceLevel0 = 0;
|
| 918 |
break;
|
| 919 |
default:
|
| 920 |
if(i + 1 >= argc) break; |
| 921 |
switch(opti)
|
| 922 |
{
|
| 923 |
case MAKEINT1(i):
|
| 924 |
strcpy(_imgpath, param); |
| 925 |
i++; |
| 926 |
//get the file list..
|
| 927 |
_list->push_back(param); |
| 928 |
while( i+1 < argc && argv[i+1][0] !='-') |
| 929 |
{
|
| 930 |
_list->push_back(argv[++i]); |
| 931 |
} |
| 932 |
break;
|
| 933 |
case MAKEINT2(i, l):
|
| 934 |
LoadImageList(param); |
| 935 |
i++; |
| 936 |
break;
|
| 937 |
case MAKEINT1(o):
|
| 938 |
strcpy(_outpath, param); |
| 939 |
i++; |
| 940 |
break;
|
| 941 |
case MAKEINT1(f):
|
| 942 |
{
|
| 943 |
float factor = 0.0f; |
| 944 |
if(sscanf(param, "%f", &factor) && factor > 0 ) |
| 945 |
{
|
| 946 |
GlobalUtil::_FilterWidthFactor = factor; |
| 947 |
i++; |
| 948 |
} |
| 949 |
} |
| 950 |
break;
|
| 951 |
case MAKEINT2(o, t):
|
| 952 |
{
|
| 953 |
float factor = 0.0f; |
| 954 |
if(sscanf(param, "%f", &factor) && factor>0 ) |
| 955 |
{
|
| 956 |
GlobalUtil::_MulitiOrientationThreshold = factor; |
| 957 |
i++; |
| 958 |
} |
| 959 |
break;
|
| 960 |
} |
| 961 |
case MAKEINT1(w):
|
| 962 |
{
|
| 963 |
float factor = 0.0f; |
| 964 |
if(sscanf(param, "%f", &factor) && factor>0 ) |
| 965 |
{
|
| 966 |
GlobalUtil::_OrientationWindowFactor = factor; |
| 967 |
i++; |
| 968 |
} |
| 969 |
break;
|
| 970 |
} |
| 971 |
case MAKEINT2(d, w):
|
| 972 |
{
|
| 973 |
float factor = 0.0f; |
| 974 |
if(sscanf(param, "%f", &factor) && factor > 0 ) |
| 975 |
{
|
| 976 |
GlobalUtil::_DescriptorWindowFactor = factor; |
| 977 |
i++; |
| 978 |
} |
| 979 |
break;
|
| 980 |
} |
| 981 |
case MAKEINT2(f, o):
|
| 982 |
{
|
| 983 |
int first_octave = -3; |
| 984 |
if(sscanf(param, "%d", &first_octave) && first_octave >=-2 ) |
| 985 |
{
|
| 986 |
GlobalUtil::_octave_min_default = first_octave; |
| 987 |
i++; |
| 988 |
} |
| 989 |
break;
|
| 990 |
} |
| 991 |
case MAKEINT2(n, o):
|
| 992 |
if(!_initialized)
|
| 993 |
{
|
| 994 |
int octave_num=-1; |
| 995 |
if(sscanf(param, "%d", &octave_num)) |
| 996 |
{
|
| 997 |
octave_num = max(-1, octave_num);
|
| 998 |
if(octave_num ==-1 || octave_num >=1) |
| 999 |
{
|
| 1000 |
GlobalUtil::_octave_num_default = octave_num; |
| 1001 |
i++; |
| 1002 |
} |
| 1003 |
} |
| 1004 |
} |
| 1005 |
break;
|
| 1006 |
case MAKEINT1(t):
|
| 1007 |
{
|
| 1008 |
float threshold = 0.0f; |
| 1009 |
if(sscanf(param, "%f", &threshold) && threshold >0 && threshold < 0.5f) |
| 1010 |
{
|
| 1011 |
SiftParam::_dog_threshold = threshold; |
| 1012 |
i++; |
| 1013 |
} |
| 1014 |
break;
|
| 1015 |
} |
| 1016 |
case MAKEINT1(e):
|
| 1017 |
{
|
| 1018 |
float threshold = 0.0f; |
| 1019 |
if(sscanf(param, "%f", &threshold) && threshold >0 ) |
| 1020 |
{
|
| 1021 |
SiftParam::_edge_threshold = threshold; |
| 1022 |
i++; |
| 1023 |
} |
| 1024 |
break;
|
| 1025 |
} |
| 1026 |
case MAKEINT1(d):
|
| 1027 |
{
|
| 1028 |
int num = 0; |
| 1029 |
if(sscanf(param, "%d", &num) && num >=1 && num <=10) |
| 1030 |
{
|
| 1031 |
SiftParam::_dog_level_num = num; |
| 1032 |
i++; |
| 1033 |
} |
| 1034 |
break;
|
| 1035 |
} |
| 1036 |
case MAKEINT2(f, s):
|
| 1037 |
{
|
| 1038 |
int num = 0; |
| 1039 |
if(sscanf(param, "%d", &num) && num >=1) |
| 1040 |
{
|
| 1041 |
GlobalParam::_FeatureTexBlock = num; |
| 1042 |
i++; |
| 1043 |
} |
| 1044 |
break;
|
| 1045 |
} |
| 1046 |
case MAKEINT1(p):
|
| 1047 |
{
|
| 1048 |
int w =0, h=0; |
| 1049 |
if(sscanf(param, "%dx%d", &w, &h) == 2 && w >0 && h>0) |
| 1050 |
{
|
| 1051 |
GlobalParam::_InitPyramidWidth = w; |
| 1052 |
GlobalParam::_InitPyramidHeight = h; |
| 1053 |
i++; |
| 1054 |
} |
| 1055 |
break;
|
| 1056 |
} |
| 1057 |
case MAKEINT4(w, i, n, p): //winpos |
| 1058 |
{
|
| 1059 |
int x =0, y=0; |
| 1060 |
if(sscanf(param, "%dx%d", &x, &y) == 2) |
| 1061 |
{
|
| 1062 |
GlobalParam::_WindowInitX = x; |
| 1063 |
GlobalParam::_WindowInitY = y; |
| 1064 |
i++; |
| 1065 |
} |
| 1066 |
break;
|
| 1067 |
} |
| 1068 |
case MAKEINT4(d, i, s, p): //display |
| 1069 |
{
|
| 1070 |
GlobalParam::_WindowDisplay = param; |
| 1071 |
i++; |
| 1072 |
break;
|
| 1073 |
} |
| 1074 |
case MAKEINT2(l, m):
|
| 1075 |
{
|
| 1076 |
int num = 0; |
| 1077 |
if(sscanf(param, "%d", &num) && num >=1000) |
| 1078 |
{
|
| 1079 |
GlobalParam::_MaxLevelFeatureNum = num; |
| 1080 |
i++; |
| 1081 |
} |
| 1082 |
break;
|
| 1083 |
} |
| 1084 |
case MAKEINT3(l, m, p):
|
| 1085 |
{
|
| 1086 |
float num = 0.0f; |
| 1087 |
if(sscanf(param, "%f", &num) && num >=0.001) |
| 1088 |
{
|
| 1089 |
GlobalParam::_MaxFeaturePercent = num; |
| 1090 |
i++; |
| 1091 |
} |
| 1092 |
break;
|
| 1093 |
} |
| 1094 |
case MAKEINT3(t, c, 2): //downward |
| 1095 |
case MAKEINT3(t, c, 3): |
| 1096 |
case MAKEINT2(t, c): //tc |
| 1097 |
case MAKEINT3(t, c, 1): // |
| 1098 |
{
|
| 1099 |
switch (opti)
|
| 1100 |
{
|
| 1101 |
case MAKEINT3(t, c, 2): GlobalUtil::_TruncateMethod = 1; break; |
| 1102 |
case MAKEINT3(t, c, 3): GlobalUtil::_TruncateMethod = 2; break; |
| 1103 |
default: GlobalUtil::_TruncateMethod = 0; break; |
| 1104 |
} |
| 1105 |
int num = -1; |
| 1106 |
if(sscanf(param, "%d", &num) && num > 0) |
| 1107 |
{
|
| 1108 |
GlobalParam::_FeatureCountThreshold = num; |
| 1109 |
i++; |
| 1110 |
} |
| 1111 |
break;
|
| 1112 |
} |
| 1113 |
case MAKEINT1(v):
|
| 1114 |
{
|
| 1115 |
int num = 0; |
| 1116 |
if(sscanf(param, "%d", &num) && num >=0 && num <= 4) |
| 1117 |
{
|
| 1118 |
SetVerbose(num); |
| 1119 |
} |
| 1120 |
break;
|
| 1121 |
} |
| 1122 |
case MAKEINT4(m, a, x, d):
|
| 1123 |
{
|
| 1124 |
int num = 0; |
| 1125 |
if(sscanf(param, "%d", &num) && num > 0) |
| 1126 |
{
|
| 1127 |
GlobalUtil::_texMaxDim = num; |
| 1128 |
setMaxD = 1;
|
| 1129 |
} |
| 1130 |
break;
|
| 1131 |
} |
| 1132 |
case MAKEINT4(m, i, n, d):
|
| 1133 |
{
|
| 1134 |
int num = 0; |
| 1135 |
if(sscanf(param, "%d", &num) && num >= 8) |
| 1136 |
{
|
| 1137 |
GlobalUtil::_texMinDim = num; |
| 1138 |
} |
| 1139 |
break;
|
| 1140 |
} |
| 1141 |
default:
|
| 1142 |
break;
|
| 1143 |
} |
| 1144 |
break;
|
| 1145 |
} |
| 1146 |
} |
| 1147 |
//do not write result if there are more than one input images
|
| 1148 |
if(_outpath[0] && _list->size()>1) _outpath[0] = 0; |
| 1149 |
} |
| 1150 |
|
| 1151 |
void SiftGPU::SetImageList(int nimage, const char** filelist) |
| 1152 |
{
|
| 1153 |
_list->resize(0);
|
| 1154 |
for(int i = 0; i < nimage; i++) |
| 1155 |
{
|
| 1156 |
_list->push_back(filelist[i]); |
| 1157 |
} |
| 1158 |
_current = 0;
|
| 1159 |
|
| 1160 |
} |
| 1161 |
void SiftGPU:: LoadImageList(char *imlist) |
| 1162 |
{
|
| 1163 |
char filename[_MAX_PATH];
|
| 1164 |
ifstream in(imlist); |
| 1165 |
while(in>>filename)
|
| 1166 |
{
|
| 1167 |
_list->push_back(filename); |
| 1168 |
} |
| 1169 |
in.close(); |
| 1170 |
|
| 1171 |
|
| 1172 |
if(_list->size()>0) |
| 1173 |
{
|
| 1174 |
strcpy(_imgpath, _list->at(0).data());
|
| 1175 |
strcpy(filename, imlist); |
| 1176 |
char * slash = strrchr(filename, '\\'); |
| 1177 |
if(slash == 0) slash = strrchr(filename, '/'); |
| 1178 |
if(slash )
|
| 1179 |
{
|
| 1180 |
slash[1] = 0; |
| 1181 |
chdir(filename); |
| 1182 |
} |
| 1183 |
} |
| 1184 |
_image_loaded = 0;
|
| 1185 |
|
| 1186 |
|
| 1187 |
} |
| 1188 |
float SiftParam::GetLevelSigma( int lev) |
| 1189 |
{
|
| 1190 |
return _sigma0 * powf( 2.0f, float(lev) / float(_dog_level_num )); //bug fix 9/12/2007 |
| 1191 |
} |
| 1192 |
|
| 1193 |
|
| 1194 |
|
| 1195 |
void SiftGPUEX::DisplayFeatureBox(int view ) |
| 1196 |
{
|
| 1197 |
view = view%3;
|
| 1198 |
if(view<0)view+=3; |
| 1199 |
if(view ==2) return; |
| 1200 |
int idx = 0; |
| 1201 |
const int *fnum = _pyramid->GetLevelFeatureNum(); |
| 1202 |
const GLuint *vbo = _pyramid->GetFeatureDipslayVBO();
|
| 1203 |
const GLuint *vbop = _pyramid->GetPointDisplayVBO();
|
| 1204 |
if(vbo == NULL || vbop == NULL) return; |
| 1205 |
//int nvbo = _dog_level_num * _pyramid->_octave_num;
|
| 1206 |
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); |
| 1207 |
glEnableClientState(GL_VERTEX_ARRAY); |
| 1208 |
glPushMatrix(); |
| 1209 |
// glTranslatef(0.0f, 0.0f, -1.0f);
|
| 1210 |
glPointSize(2.0f); |
| 1211 |
|
| 1212 |
float scale = 1.0f; |
| 1213 |
if(_pyramid->_octave_min >0) scale *= (1<<_pyramid->_octave_min); |
| 1214 |
else if(_pyramid->_octave_min < 0) scale /= (1<<(-_pyramid->_octave_min)); |
| 1215 |
glScalef(scale, scale, 1.0f); |
| 1216 |
|
| 1217 |
|
| 1218 |
for(int i = 0; i < _pyramid->_octave_num; i++) |
| 1219 |
{
|
| 1220 |
|
| 1221 |
for(int j = 0; j < _dog_level_num; j++, idx++) |
| 1222 |
{
|
| 1223 |
if(fnum[idx]>0) |
| 1224 |
{
|
| 1225 |
if(view ==0) |
| 1226 |
{
|
| 1227 |
glColor3f(0.2f, 1.0f, 0.2f); |
| 1228 |
glBindBuffer(GL_ARRAY_BUFFER_ARB, vbop[idx]); |
| 1229 |
glVertexPointer( 4, GL_FLOAT,4*sizeof(float), (char *) 0); |
| 1230 |
glDrawArrays( GL_POINTS, 0, fnum[idx]);
|
| 1231 |
glFlush(); |
| 1232 |
}else
|
| 1233 |
{
|
| 1234 |
|
| 1235 |
//glColor3f(1.0f, 0.0f, 0.0f);
|
| 1236 |
glColor3fv(_colors+ (idx%COLOR_NUM)*3);
|
| 1237 |
glBindBuffer(GL_ARRAY_BUFFER_ARB, vbo[idx]); |
| 1238 |
glVertexPointer( 4, GL_FLOAT,4*sizeof(float), (char *) 0); |
| 1239 |
glDrawArrays( GL_LINES, 0, fnum[idx]*10 ); |
| 1240 |
glFlush(); |
| 1241 |
} |
| 1242 |
|
| 1243 |
} |
| 1244 |
|
| 1245 |
} |
| 1246 |
glTranslatef(-.5f, -.5f, 0.0f); |
| 1247 |
glScalef(2.0f, 2.0f, 1.0f); |
| 1248 |
|
| 1249 |
} |
| 1250 |
glPopMatrix(); |
| 1251 |
glDisableClientState(GL_VERTEX_ARRAY); |
| 1252 |
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); |
| 1253 |
glPointSize(1.0f); |
| 1254 |
|
| 1255 |
} |
| 1256 |
|
| 1257 |
void SiftGPUEX::ToggleDisplayDebug()
|
| 1258 |
{
|
| 1259 |
_view_debug = !_view_debug; |
| 1260 |
} |
| 1261 |
|
| 1262 |
void SiftGPUEX::DisplayDebug()
|
| 1263 |
{
|
| 1264 |
glPointSize(1.0f); |
| 1265 |
glColor3f(1.0f, 0.0f, 0.0f); |
| 1266 |
ShaderMan::UseShaderDebug(); |
| 1267 |
glBegin(GL_POINTS); |
| 1268 |
for(int i = 0; i < 100; i++) |
| 1269 |
{
|
| 1270 |
glVertex2f(i*4.0f+0.5f, i*4.0f+0.5f); |
| 1271 |
} |
| 1272 |
glEnd(); |
| 1273 |
ShaderMan::UnloadProgram(); |
| 1274 |
} |
| 1275 |
|
| 1276 |
int SiftGPU::CreateContextGL()
|
| 1277 |
{
|
| 1278 |
if(GlobalUtil::_UseOpenCL || GlobalUtil::_UseCUDA)
|
| 1279 |
{
|
| 1280 |
//do nothing
|
| 1281 |
} |
| 1282 |
else if(!GlobalUtil::CreateWindowEZ()) |
| 1283 |
{
|
| 1284 |
#if CUDA_SIFTGPU_ENABLED
|
| 1285 |
GlobalUtil::_UseCUDA = 1;
|
| 1286 |
#else
|
| 1287 |
return 0; |
| 1288 |
#endif
|
| 1289 |
} |
| 1290 |
|
| 1291 |
return VerifyContextGL();
|
| 1292 |
} |
| 1293 |
|
| 1294 |
int SiftGPU::VerifyContextGL()
|
| 1295 |
{
|
| 1296 |
InitSiftGPU(); |
| 1297 |
return (GlobalUtil::_GoodOpenGL > 0) + GlobalUtil::_FullSupported; |
| 1298 |
} |
| 1299 |
|
| 1300 |
int SiftGPU::IsFullSupported()
|
| 1301 |
{
|
| 1302 |
return GlobalUtil::_GoodOpenGL > 0 && GlobalUtil::_FullSupported; |
| 1303 |
} |
| 1304 |
|
| 1305 |
void SiftGPU::SaveSIFT(const char * szFileName) |
| 1306 |
{
|
| 1307 |
_pyramid->SaveSIFT(szFileName); |
| 1308 |
} |
| 1309 |
|
| 1310 |
int SiftGPU::GetFeatureNum()
|
| 1311 |
{
|
| 1312 |
return _pyramid->GetFeatureNum();
|
| 1313 |
} |
| 1314 |
|
| 1315 |
void SiftGPU::GetFeatureVector(SiftKeypoint * keys, float * descriptors) |
| 1316 |
{
|
| 1317 |
// keys.resize(_pyramid->GetFeatureNum());
|
| 1318 |
if(GlobalUtil::_DescriptorPPT)
|
| 1319 |
{
|
| 1320 |
// descriptors.resize(128*_pyramid->GetFeatureNum());
|
| 1321 |
_pyramid->CopyFeatureVector((float*) (&keys[0]), &descriptors[0]); |
| 1322 |
}else
|
| 1323 |
{
|
| 1324 |
//descriptors.resize(0);
|
| 1325 |
_pyramid->CopyFeatureVector((float*) (&keys[0]), NULL); |
| 1326 |
} |
| 1327 |
} |
| 1328 |
|
| 1329 |
void SiftGPU::SetTightPyramid(int tight) |
| 1330 |
{
|
| 1331 |
GlobalUtil::_ForceTightPyramid = tight; |
| 1332 |
} |
| 1333 |
|
| 1334 |
int SiftGPU::AllocatePyramid(int width, int height) |
| 1335 |
{
|
| 1336 |
_pyramid->_down_sample_factor = 0;
|
| 1337 |
_pyramid->_octave_min = GlobalUtil::_octave_min_default; |
| 1338 |
if(GlobalUtil::_octave_min_default>=0) |
| 1339 |
{
|
| 1340 |
width >>= GlobalUtil::_octave_min_default; |
| 1341 |
height >>= GlobalUtil::_octave_min_default; |
| 1342 |
}else
|
| 1343 |
{
|
| 1344 |
width <<= (-GlobalUtil::_octave_min_default); |
| 1345 |
height <<= (-GlobalUtil::_octave_min_default); |
| 1346 |
} |
| 1347 |
_pyramid->ResizePyramid(width, height); |
| 1348 |
return _pyramid->_pyramid_height == height && width == _pyramid->_pyramid_width ;
|
| 1349 |
} |
| 1350 |
|
| 1351 |
void SiftGPU::SetMaxDimension(int sz) |
| 1352 |
{
|
| 1353 |
if(sz < GlobalUtil::_texMaxDimGL)
|
| 1354 |
{
|
| 1355 |
GlobalUtil::_texMaxDim = sz; |
| 1356 |
} |
| 1357 |
} |
| 1358 |
int SiftGPU::GetImageCount()
|
| 1359 |
{
|
| 1360 |
return _list->size();
|
| 1361 |
} |
| 1362 |
|
| 1363 |
void SiftGPUEX::HSVtoRGB(float hsv[3],float rgb[3] ) |
| 1364 |
{
|
| 1365 |
|
| 1366 |
int i;
|
| 1367 |
float q, t, p;
|
| 1368 |
float hh,f, v = hsv[2]; |
| 1369 |
if(hsv[1]==0.0f) |
| 1370 |
{
|
| 1371 |
rgb[0]=rgb[1]=rgb[2]=v; |
| 1372 |
} |
| 1373 |
else
|
| 1374 |
{
|
| 1375 |
//////////////
|
| 1376 |
hh =hsv[0]*6.0f ; // sector 0 to 5 |
| 1377 |
i =(int)hh ;
|
| 1378 |
f = hh- i; // factorial part of h
|
| 1379 |
//////////
|
| 1380 |
p= v * ( 1 - hsv[1] ); |
| 1381 |
q = v * ( 1 - hsv[1] * f ); |
| 1382 |
t = v * ( 1 - hsv[1] * ( 1 - f ) ); |
| 1383 |
switch( i ) {
|
| 1384 |
case 0:rgb[0] = v;rgb[1] = t;rgb[2] = p;break; |
| 1385 |
case 1:rgb[0] = q;rgb[1] = v;rgb[2] = p;break; |
| 1386 |
case 2:rgb[0] = p;rgb[1] = v;rgb[2] = t;break; |
| 1387 |
case 3:rgb[0] = p;rgb[1] = q;rgb[2] = v;break; |
| 1388 |
case 4:rgb[0] = t;rgb[1] = p;rgb[2] = v;break; |
| 1389 |
case 5:rgb[0] = v;rgb[1] = p;rgb[2] = q;break; |
| 1390 |
default:rgb[0]= 0;rgb[1] = 0;rgb[2] = 0; |
| 1391 |
} |
| 1392 |
} |
| 1393 |
} |
| 1394 |
|
| 1395 |
void SiftGPUEX::GetImageDimension( int &w, int &h) |
| 1396 |
{
|
| 1397 |
w = _texImage->GetImgWidth(); |
| 1398 |
h = _texImage->GetImgHeight(); |
| 1399 |
|
| 1400 |
} |
| 1401 |
|
| 1402 |
void SiftGPUEX::GetInitWindowPotition(int&x, int&y) |
| 1403 |
{
|
| 1404 |
x = GlobalUtil::_WindowInitX; |
| 1405 |
y = GlobalUtil::_WindowInitY; |
| 1406 |
} |
| 1407 |
|
| 1408 |
SiftGPU* CreateNewSiftGPU(int np)
|
| 1409 |
{
|
| 1410 |
return new SiftGPU(np); |
| 1411 |
} |
| 1412 |
|
| 1413 |
/////////////////////////////////////////////////////
|
| 1414 |
void* ComboSiftGPU::operator new (size_t size){ |
| 1415 |
void * p = malloc(size);
|
| 1416 |
if (p == 0) |
| 1417 |
{
|
| 1418 |
const std::bad_alloc ba;
|
| 1419 |
throw ba;
|
| 1420 |
} |
| 1421 |
return p;
|
| 1422 |
} |
| 1423 |
|
| 1424 |
ComboSiftGPU* CreateComboSiftGPU() |
| 1425 |
{
|
| 1426 |
return new ComboSiftGPU(); |
| 1427 |
} |
| 1428 |
|