NICE_VisLearning/features/localfeatures/LocalFeatureSiftGPU.cpp

/**
* @file LocalFeaturesiftGPU.cpp
* @brief A Sift-Implementation, which uses the GPU.
* @author Eric Bach
* @date 11/20/2011
*/

#include "LocalFeatureSiftGPU.h"

#include "core/basics/StringTools.h"

using namespace OBJREC;
using namespace std;
using namespace NICE;

LocalFeatureSiftGPU::LocalFeatureSiftGPU (const Config* conf) : LocalFeatureSift (conf)
{
  const string section = "SIFTGPU";

  gpuLanguage = conf->gS (section, "language", "cuda");
  multiGPU    = conf->gB (section, "multigpu",  false);
  numOfGPU    = conf->gI (section, "numgpu"  ,      1);

  // for multiGPU its neccessary, that you got more the one devices
  /*if( multiGPU && ( numOfGPU < 2 ) )
    fthrow( Exception, "For multiple GPU, you need more the one device!");

  // fill deviceStat: all devices are unused (=free)
  for( unsigned int i=0; i < numOfGPU; i++ )
    deviceStat.insert(pair<unsigned int, bool>(i, true));*/
}

LocalFeatureSiftGPU::~LocalFeatureSiftGPU ()
{
}

int LocalFeatureSiftGPU::getNextDeviceID()
{
  StatTable::iterator it = deviceStat.begin();
  for (; it != deviceStat.end(); ++it) {
    bool free = it->second;
    if (free) {
      it->second = !free;
      return it->first;
    }
  }
  // no free device was found
  return -1;
}

void LocalFeatureSiftGPU::releaseDevice (int id)
{
  StatTable::iterator it = deviceStat.find (id);
  // if given id is associated with a device, set this gpu on free
  if (it != deviceStat.end()) it->second = true;
}

void LocalFeatureSiftGPU::computeDesc (const NICE::Image & img, VVector & positions, VVector & descriptors) const
{
  // fill the parameter for
  //char device[2] = {'0' + deviceID, '\0'};
  char* argv[] = {
    // First octave to detect DOG keypoints
    "-fo" , const_cast<char*> (StringTools::convertToString<int> (first_octave).c_str()),
    // Maximum number of Octaves
    "-no" , const_cast<char*> (StringTools::convertToString<int> (octaves).c_str()),
    // Number of DOG levels in an octave.
    "-d"  , const_cast<char*> (StringTools::convertToString<int> (levels).c_str()),
    // Write unnormalized descriptor if specified.
    const_cast<char*> (normalizeFeature ? "" : "-unn"),
    // Descriptor grid size factor (magnif ??)
    "-dw" , const_cast<char*> (StringTools::convertToString<float> (magnif).c_str()),
    // use cuda / which device TODO
    const_cast<char*> (gpuLanguage == "cuda" ? "-cuda" : "-pack"),  const_cast<char*> (gpuLanguage == "cuda" ? "0" : ""),
    // verbose levels
    "-v", "0"
  };
  int argc = sizeof (argv) / sizeof (char*);

  // sift Instanz
  SiftGPU sift;

  // give parameter to sift
  sift.ParseParam (argc, argv);

  // check, whether siftgpu is full supported
  const int support = sift.CreateContextGL();
//   const int support = sift.VerifyContextGL();
  /*if( support == SiftGPU::SIFTGPU_PARTIAL_SUPPORTED ) 
    clog << "·[log] LocalFeatureSift: SIFTGPU spartial supported" << endl;*/
  
  if ( support != SiftGPU::SIFTGPU_FULL_SUPPORTED) {
    fthrow( Exception, "LocalFeatureSift: Its not able to use SIFTGPU, because it is not supported." );
  }
  else{ clog << "[log] LocalFeatureSift: SIFTGPU full supported" << endl; }

  // set keypoints
  const int numberOfKeypoints = positions.size();
  SiftGPU::SiftKeypoint keys[numberOfKeypoints];

  // copy the NICEKeypoints into SiftKeypoints
  for (int i = 0; i < numberOfKeypoints; i++) {
    keys[i].x = positions[i][0];
    keys[i].y = positions[i][1];
    keys[i].s = positions[i][2];
    keys[i].o = positions[i][3];
  }
  sift.SetKeypointList (numberOfKeypoints, keys);

  // run SIFT
  const int imageWidth  = img.width();
  const int imageHeight = img.height();
  const unsigned char* rawImageData = img.getPixelPointer();

  sift.RunSIFT (imageWidth, imageHeight, rawImageData, GL_LUMINANCE, GL_UNSIGNED_BYTE);

  // get descriptors
  const int descr_size = 128;
  const int numberOfDescriptors = sift.GetFeatureNum();
  float desc[descr_size * numberOfDescriptors];
  
  //vector<float> desc (descr_size * numberOfDescriptors);

  sift.GetFeatureVector (keys, desc);

  // TODO: kopieren durch Iterator erledigen

  Vector localDesc (descr_size);
  // copy the SiftDescriptors into NICEDescriptors
  for (int i = 0; i < numberOfDescriptors; i++) {
    for (int j = 0; j < descr_size; j++) {
      localDesc[j] = (integerValues ? (int) (512 * desc[i*descr_size+j]) : desc[i*descr_size+j]);
    }
    descriptors.push_back (localDesc);
  }
}

int LocalFeatureSiftGPU::getDescriptors (const NICE::Image & img, VVector & positions, VVector & descriptors) const
{
  sortPositions (positions);

  computeDesc (img, positions, descriptors);

  return 0;
}