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////////////////////////////////////////////////////////////////////////////
// File: SiftMatchCU.cpp
// Author: Changchang Wu
// Description : implementation of the SiftMatchCU class.
// CUDA-based implementation of SiftMatch
//
// Copyright (c) 2007 University of North Carolina at Chapel Hill
// All Rights Reserved
//
// Permission to use, copy, modify and distribute this software and its
// documentation for educational, research and non-profit purposes, without
// fee, and without a written agreement is hereby granted, provided that
// the above copyright notice and the following paragraph appear in all
// copies.
//
// The University of North Carolina at Chapel Hill make no representations
// about the suitability of this software for any purpose. It is provided
// 'as is' without express or implied warranty.
//
// Please send BUG REPORTS to ccwu@cs.unc.edu
//
////////////////////////////////////////////////////////////////////////////
#if defined(CUDA_SIFTGPU_ENABLED)
#include "GL/glew.h"
#include <algorithm>
#include <iostream>
#include <math.h>
#include <stdlib.h>
#include <vector>
using namespace std;
#include <cuda_runtime.h>
#include "CuTexImage.h"
#include "GlobalUtil.h"
#include "ProgramCU.h"
#include "SiftGPU.h"
#include "SiftMatchCU.h"
#define MULT_TBLOCK_DIMX 128
#define MULT_TBLOCK_DIMY 1
#define MULT_BLOCK_DIMX (MULT_TBLOCK_DIMX)
#define MULT_BLOCK_DIMY (8 * MULT_TBLOCK_DIMY)
SiftMatchCU::SiftMatchCU(int max_sift) : SiftMatchGPU() {
_num_sift[0] = _num_sift[1] = 0;
_id_sift[0] = _id_sift[1] = 0;
_have_loc[0] = _have_loc[1] = 0;
__max_sift = max_sift <= 0 ? 4096 : ((max_sift + 31) / 32 * 32);
_initialized = 0;
}
bool SiftMatchCU::Allocate(int max_sift, int mbm) {
SetMaxSift(max_sift);
for (int index = 0; index < 2; ++index) {
if (!_texDes[index].InitTexture(8 * __max_sift, 1, 4) ||
!_texLoc[index].InitTexture(__max_sift, 1, 2)) {
return false;
}
}
if (!_texDot.InitTexture(__max_sift, __max_sift) ||
!_texMatch[0].InitTexture(__max_sift, 1)) {
return false;
}
if (mbm) {
const int cols = (__max_sift + MULT_BLOCK_DIMY - 1) / MULT_BLOCK_DIMY;
if (!_texCRT.InitTexture(__max_sift, cols, 32) ||
!_texMatch[1].InitTexture(__max_sift, 1)) {
return false;
}
}
_num_sift[0] = __max_sift;
_num_sift[1] = __max_sift;
return true;
}
void SiftMatchCU::SetMaxSift(int max_sift) {
max_sift = ((max_sift + 31) / 32) * 32;
__max_sift = max_sift;
}
int SiftMatchCU::CheckCudaDevice(int device) {
return ProgramCU::CheckCudaDevice(device);
}
void SiftMatchCU::InitSiftMatch() {
if (_initialized) return;
GlobalUtil::_GoodOpenGL = max(GlobalUtil::_GoodOpenGL, 1);
_initialized = 1;
}
void SiftMatchCU::SetDescriptors(int index, int num,
const unsigned char* descriptors, int id) {
if (_initialized == 0) return;
if (index > 1) index = 1;
if (index < 0) index = 0;
_have_loc[index] = 0;
// the same feature is already set
if (id != -1 && id == _id_sift[index]) return;
_id_sift[index] = id;
if (num > __max_sift) num = __max_sift;
_num_sift[index] = num;
_texDes[index].InitTexture(8 * num, 1, 4);
_texDes[index].CopyFromHost((void*)descriptors);
}
void SiftMatchCU::SetDescriptors(int index, int num, const float* descriptors,
int id) {
if (_initialized == 0) return;
if (index > 1) index = 1;
if (index < 0) index = 0;
if (num > __max_sift) num = __max_sift;
sift_buffer.resize(num * 128 / 4);
unsigned char* pub = (unsigned char*)&sift_buffer[0];
for (int i = 0; i < 128 * num; ++i) {
pub[i] = int(512 * descriptors[i] + 0.5);
}
SetDescriptors(index, num, pub, id);
}
void SiftMatchCU::SetFeautreLocation(int index, const float* locations,
int gap) {
if (_num_sift[index] <= 0) return;
_texLoc[index].InitTexture(_num_sift[index], 1, 2);
if (gap == 0) {
_texLoc[index].CopyFromHost(locations);
} else {
sift_buffer.resize(_num_sift[index] * 2);
float* pbuf = (float*)(&sift_buffer[0]);
for (int i = 0; i < _num_sift[index]; ++i) {
pbuf[i * 2] = *locations++;
pbuf[i * 2 + 1] = *locations++;
locations += gap;
}
_texLoc[index].CopyFromHost(pbuf);
}
_have_loc[index] = 1;
}
int SiftMatchCU::GetGuidedSiftMatch(int max_match, uint32_t match_buffer[][2],
float* H, float* F, float distmax,
float ratiomax, float hdistmax,
float fdistmax, int mbm) {
if (_initialized == 0) return 0;
if (_num_sift[0] <= 0 || _num_sift[1] <= 0) return 0;
if (_have_loc[0] == 0 || _have_loc[1] == 0) return 0;
ProgramCU::MultiplyDescriptorG(_texDes, _texDes + 1, _texLoc, _texLoc + 1,
&_texDot, (mbm ? &_texCRT : NULL), H, hdistmax,
F, fdistmax);
return GetBestMatch(max_match, match_buffer, distmax, ratiomax, mbm);
}
int SiftMatchCU::GetSiftMatch(int max_match, uint32_t match_buffer[][2],
float distmax, float ratiomax, int mbm) {
if (_initialized == 0) return 0;
if (_num_sift[0] <= 0 || _num_sift[1] <= 0) return 0;
ProgramCU::MultiplyDescriptor(_texDes, _texDes + 1, &_texDot,
(mbm ? &_texCRT : NULL));
return GetBestMatch(max_match, match_buffer, distmax, ratiomax, mbm);
}
int SiftMatchCU::GetBestMatch(int max_match, uint32_t match_buffer[][2],
float distmax, float ratiomax, int mbm) {
sift_buffer.resize(_num_sift[0] + _num_sift[1]);
int *buffer1 = (int*)&sift_buffer[0],
*buffer2 = (int*)&sift_buffer[_num_sift[0]];
_texMatch[0].InitTexture(_num_sift[0], 1);
ProgramCU::GetRowMatch(&_texDot, _texMatch, distmax, ratiomax);
_texMatch[0].CopyToHost(buffer1);
if (mbm) {
_texMatch[1].InitTexture(_num_sift[1], 1);
ProgramCU::GetColMatch(&_texCRT, _texMatch + 1, distmax, ratiomax);
_texMatch[1].CopyToHost(buffer2);
}
int nmatch = 0, j;
for (int i = 0; i < _num_sift[0] && nmatch < max_match; ++i) {
j = int(buffer1[i]);
if (j >= 0 && (!mbm || int(buffer2[j]) == i)) {
match_buffer[nmatch][0] = i;
match_buffer[nmatch][1] = j;
nmatch++;
}
}
cudaError_t error = cudaGetLastError();
if (error != cudaSuccess) {
return -1;
}
return nmatch;
}
#endif
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