colmap/lib/SiftGPU/ProgramCG.cpp

//////////////////////////////////////////////////////////////////////////////
//	File:		ProgramCG.cpp
//	Author:		Changchang Wu
//	Description :	implementation of cg related class.
//		class ProgramCG			A simple wrapper of Cg programs
//		class ShaderBagCG		cg shaders for SIFT
//		class FilterCGGL		cg gaussian filters for SIFT
//
//	Copyright (c) 2007 University of North Carolina at Chapel Hill
//	All Rights Reserved
//
//	Permission to use, copy, modify and distribute this software and its
//	documentation for educational, research and non-profit purposes, without
//	fee, and without a written agreement is hereby granted, provided that the
//	above copyright notice and the following paragraph appear in all copies.
//	
//	The University of North Carolina at Chapel Hill make no representations
//	about the suitability of this software for any purpose. It is provided
//	'as is' without express or implied warranty. 
//
//	Please send BUG REPORTS to ccwu@cs.unc.edu
//
////////////////////////////////////////////////////////////////////////////

#if defined(CG_SIFTGPU_ENABLED) 

#include "GL/glew.h"

#include <iostream>
#include <iomanip>
#include <vector>
#include <strstream>
#include <algorithm>
#include <stdlib.h>
#include <math.h>
#include <string.h>
using namespace std;

#include "GlobalUtil.h"
#include "ProgramCG.h"
#include "GLTexImage.h"
#include "ShaderMan.h"
#include "FrameBufferObject.h"



#if  defined(_WIN32) 
	#pragma comment (lib, "../../lib/cg.lib")
	#pragma comment (lib, "../../lib/cggl.lib")
#endif

CGcontext	ProgramCG::_Context	=0;
CGprofile	ProgramCG::_FProfile;

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////

ProgramCG::ProgramCG()
{
	_programID = NULL;
}

ProgramCG::~ProgramCG()
{
	if(_programID) cgDestroyProgram(_programID);
}

ProgramCG::ProgramCG(const char *code, const char** cg_compile_args, CGprofile profile)
{
	_valid = 0;
	_profile = profile;
	GLint epos;
	const char* ati_args[] = {"-po", "ATI_draw_buffers",0}; 
	const char* fp40_args[] = {"-ifcvt", "none","-unroll", "all", GlobalUtil::_UseFastMath? "-fastmath" : 0, 0};
	if(cg_compile_args == NULL) cg_compile_args = GlobalUtil::_IsNvidia? (GlobalUtil::_SupportFP40? fp40_args:NULL) : ati_args;
	_programID = ::cgCreateProgram(_Context, CG_SOURCE, code, profile, NULL, cg_compile_args);
	if(_programID)
	{
		cgGLLoadProgram(_programID );
		//_texParamID = cgGetNamedParameter(_programID, "tex");

		glGetIntegerv(GL_PROGRAM_ERROR_POSITION_ARB, &epos);
		if(epos >=0)
		{
			std::cout<<cgGetProgramString(_programID, CG_COMPILED_PROGRAM)<<endl;
			std::cerr<<glGetString(GL_PROGRAM_ERROR_STRING_ARB)<<endl;
		}else
		{
			_valid = 1;
		}
	}else
	{
		std::cerr<<code<<endl;
		glGetIntegerv(GL_PROGRAM_ERROR_POSITION_ARB, &epos);
		if(epos >=0)
		{
			std::cout<<cgGetProgramString(_programID, CG_COMPILED_PROGRAM)<<endl;
			std::cerr<<glGetString(GL_PROGRAM_ERROR_STRING_ARB)<<endl;
		}else
		{
			std::cout<<glGetString(GL_PROGRAM_ERROR_STRING_ARB)<<endl;
		}
	}

}

void ProgramCG::ErrorCallback()
{
	CGerror err = cgGetError();
	if(err)
	{
		std::cerr<< cgGetErrorString(err)<<endl;
	}
}


void ProgramCG::InitContext()
{
	if(_Context == 0)
	{
		_Context	= cgCreateContext();
 
		/////////////
		_FProfile = cgGLGetLatestProfile(CG_GL_FRAGMENT);
		cgGLSetOptimalOptions(_FProfile);

		if(GlobalUtil::_verbose) std::cout<<"Shader Profile: "<<cgGetProfileString(_FProfile)<<endl;

		cgSetErrorCallback(ErrorCallback);
	}
}

void ProgramCG::DestroyContext()
{
	cgDestroyContext(_Context);
}

ShaderBagCG::ShaderBagCG()
{
	ProgramCG::InitContext();
}


int ProgramCG::UseProgram()
{
	if(_programID)
	{
		cgGLEnableProfile(_profile);
		cgGLBindProgram(_programID);

		return 1;
	}else
	{
		return 0;
	}
}

void ShaderBagCG::UnloadProgram()
{

	cgGLUnbindProgram(ProgramCG::_FProfile);
	cgGLDisableProfile(ProgramCG::_FProfile);
}


void ShaderBagCG::LoadFixedShaders()
{
//	s_debug = new ProgramCG( "void main(float4 TexCoord0:TEXCOORD0, out float4 FragColor:COLOR0,"
//		"uniform samplerRECT tex){ gl_FragColor.rg =  gl_TexCoord[0].st;}");

	s_gray = new ProgramCG( 
	"void main(float4 TexCoord0 : TEXCOORD0, out float4 FragColor : COLOR0, uniform samplerRECT tex){\n"
	"float intensity = dot(float3(0.299, 0.587, 0.114), texRECT(tex,TexCoord0.xy ).rgb);\n"
	"FragColor= float4(intensity, intensity, intensity, 1.0);}"	);


	s_sampling = new ProgramCG(
	"void main(float4 TexCoord0 : TEXCOORD0, out float4 FragColor : COLOR0, uniform samplerRECT tex){\n"
	"float4 cc = texRECT(tex, TexCoord0.xy);	FragColor = float4(cc.rg, 0.0, 0.0);	}"	);


	s_zero_pass = new ProgramCG("void main(out float4 FragColor : COLOR0){FragColor = 0;}");


	ProgramCG * program;
	s_margin_copy = program = new ProgramCG(
	"void main(float4 texCoord0: TEXCOORD0, out float4 FragColor: COLOR0, \n"
	"uniform samplerRECT tex, uniform float2 truncate){\n"
	"FragColor = texRECT(tex, min(texCoord0.xy, truncate)); }");

	_param_margin_copy_truncate = cgGetNamedParameter(*program, "truncate");


	s_grad_pass = new ProgramCG(
	"void main (\n"
	"float4 TexCC : TEXCOORD0, float4 TexLC : TEXCOORD1,\n"
	"float4 TexRC : TEXCOORD2, float4 TexCD : TEXCOORD3, float4 TexCU : TEXCOORD4,\n"
	"out float4 FragData0 : COLOR0, uniform samplerRECT tex)\n"
	"{\n"
	"	float4 v1, v2, gg;\n"
	"	float4 cc  = texRECT(tex, TexCC.xy);\n"
	"	gg.x = texRECT(tex, TexLC.xy).r;\n"
	"	gg.y = texRECT(tex, TexRC.xy).r;\n"
	"	gg.z = texRECT(tex, TexCD.xy).r;\n"
	"	gg.w = texRECT(tex, TexCU.xy).r;\n"
	"	float2 dxdy = (gg.yw - gg.xz); \n"
	"	float grad = 0.5*length(dxdy);\n"
	"	float theta = grad==0? 0: atan2(dxdy.y, dxdy.x);\n"
	"	FragData0 = float4(cc.rg, grad, theta);\n"
	"}\n\0");


	if(GlobalUtil::_SupportFP40)
	{
		//use the packing mode for cpu list reshape and two orientations
		if(GlobalUtil::_MaxOrientation != 2) GlobalUtil::_OrientationPack2 = 0;

		LoadOrientationShader();


		if(GlobalUtil::_DescriptorPPT)		LoadDescriptorShader();

	}else
	{
		s_orientation = program =  new ProgramCG(
		"void main(out float4 FragColor : COLOR0, \n"
	"	uniform samplerRECT fTex, uniform samplerRECT oTex, \n"
	"	uniform float size, \n"
	"	in float2 tpos : TEXCOORD0){\n"
	"	float4 cc = texRECT(fTex, tpos);\n"
	"	float4 oo = texRECT(oTex, cc.rg);\n"
	"	FragColor = float4(cc.rg, oo.a, size);}");  
		_param_orientation_gtex= cgGetNamedParameter(*program, "oTex");
		_param_orientation_size= cgGetNamedParameter(*program, "size");


		///
		GlobalUtil::_FullSupported = 0;
		GlobalUtil::_MaxOrientation = 0;  //0 for simplified version
		GlobalUtil::_DescriptorPPT = 0;
		std::cerr<<"Orientation simplified on this hardware"<<endl;
		std::cerr<<"Descriptor ignored on this hardware"<<endl;
	}


}

void ShaderBagCG::LoadDisplayShaders()
{
	s_copy_key = new ProgramCG(
	"void main(float4 TexCoord0 : TEXCOORD0, out float4 FragColor : COLOR0, uniform samplerRECT tex){\n"
	"FragColor.rg= texRECT(tex, TexCoord0.xy).rg; FragColor.ba = float2(0,1);	}");

	//shader used to write a vertex buffer object
	//which is used to draw the quads of each feature
	ProgramCG * program;
	s_vertex_list = program = new ProgramCG(
	"void main(in float4 TexCoord0: TEXCOORD0,\n"
	"uniform float4 sizes, \n"
	"uniform samplerRECT tex, \n"
	"out float4 FragColor: COLOR0){\n"
	"float fwidth = sizes.y; \n"
	"float twidth = sizes.z; \n"
	"float rwidth = sizes.w; \n"
	"float index = 0.1*(fwidth*floor(TexCoord0.y) + TexCoord0.x);\n"
	"float px = fmod(index, twidth);\n"
	"float2 tpos= floor(float2(px, index*rwidth))+0.5;\n"
	"float4 cc = texRECT(tex, tpos );\n"
	"float size = cc.a * 3.0f;//sizes.x;// \n"
	"FragColor.zw = float2(0.0, 1.0);\n"
	"if(any(cc.xy <=0)) {FragColor.xy = cc.xy;}else \n"
	"{\n"
	"	float type = frac(px);\n"
	"	float2 dxy; float s, c;\n"
	"	dxy.x = type < 0.1 ? 0 : ((type <0.5 || type > 0.9)? size : -size);\n"
	"	dxy.y = type < 0.2 ? 0 : ((type < 0.3 || type > 0.7 )? -size :size); \n"
	"	sincos(cc.b, s, c);\n"
	"	FragColor.x = cc.x + c*dxy.x-s*dxy.y;\n"
	"	FragColor.y = cc.y + c*dxy.y+s*dxy.x;}\n"
	"}\n\0");
	/*FragColor = float4(tpos, 0.0, 1.0);}\n\0");*/

	_param_genvbo_size = cgGetNamedParameter(*program, "sizes");


	s_display_gaussian =  new ProgramCG(
	"void main(float4 TexCoord0 : TEXCOORD0, out float4 FragColor : COLOR0, uniform samplerRECT tex){\n"
	"float r = texRECT(tex, TexCoord0.xy).r;\n"
	"FragColor = float4(r, r, r, 1.0);}");


	s_display_dog =  new ProgramCG(
	"void main(float4 TexCoord0 : TEXCOORD0, out float4 FragColor : COLOR0, uniform samplerRECT tex){\n"
	"float g = (0.5+20.0*texRECT(tex, TexCoord0.xy).g);\n"
	"FragColor = float4(g, g, g, 1.0);}" );


	s_display_grad = new ProgramCG(
	"void main(float4 TexCoord0 : TEXCOORD0, out float4 FragColor : COLOR0, uniform samplerRECT tex){\n"
	"float4 cc = texRECT(tex, TexCoord0.xy); FragColor = float4(5.0 * cc.bbb, 1.0); }");


	s_display_keys= new ProgramCG(
	"void main(float4 TexCoord0 : TEXCOORD0, out float4 FragColor : COLOR0, uniform samplerRECT tex){\n"
	"float4 cc = texRECT(tex, TexCoord0.xy);\n"
	"if(cc.r ==1.0) FragColor = float4(1.0, 0, 0,1.0); \n"
	"else {if (cc.r ==0.5) FragColor = float4(0.0,1.0,0.0,1.0);	else discard;}}");	

}

void ShaderBagCG::SetMarginCopyParam(int xmax, int ymax)
{
	float truncate[2] = {xmax - 0.5f , ymax - 0.5f};
	cgGLSetParameter2fv(_param_margin_copy_truncate, truncate);
}


int ShaderBagCG::LoadKeypointShaderMR(float threshold, float edge_threshold)
{
	char buffer[10240];
	float threshold0 = threshold * 0.8f;
	float threshold1 = threshold;
	float threshold2 = (edge_threshold+1)*(edge_threshold+1)/edge_threshold;
	int   max_refine = max(2, GlobalUtil::_SubpixelLocalization);
	ostrstream out(buffer, 10240);

	out <<	"#define THRESHOLD0 " << threshold0 << "\n"
			"#define THRESHOLD1 " << threshold1 << "\n"
			"#define THRESHOLD2 " << threshold2 << "\n"
			"#define MAX_REFINE " << max_refine << "\n";
	out<<
	"void main (\n"
	"float4 TexCC : TEXCOORD0, float4 TexLC : TEXCOORD1,\n"
	"float4 TexRC : TEXCOORD2, float4 TexCD : TEXCOORD3, \n"
	"float4 TexCU : TEXCOORD4, float4 TexLD : TEXCOORD5, \n"
	"float4 TexLU : TEXCOORD6, float4 TexRD : TEXCOORD7,\n"
	"out float4 FragData0 : COLOR0, out float4 FragData1 : COLOR1, \n"
	"uniform samplerRECT tex, uniform samplerRECT texU, uniform samplerRECT texD)\n"
	"{\n"
	"	float4 v1, v2, gg;\n"
	"	float2 TexRU = float2(TexRC.x, TexCU.y); \n"
	"	float4 cc  = texRECT(tex, TexCC.xy);\n"
	"	v1.x = texRECT(tex, TexLC.xy).g;\n"
	"	gg.x = texRECT(tex, TexLC.xy).r;\n"
	"	v1.y = texRECT(tex, TexRC.xy).g;\n"
	"	gg.y = texRECT(tex, TexRC.xy).r;\n"
	"	v1.z = texRECT(tex, TexCD.xy).g;\n"
	"	gg.z = texRECT(tex, TexCD.xy).r;\n"
	"	v1.w = texRECT(tex, TexCU.xy).g;\n"
	"	gg.w = texRECT(tex, TexCU.xy).r;\n"
	"	v2.x = texRECT(tex, TexLD.xy).g;\n"
	"	v2.y = texRECT(tex, TexLU.xy).g;\n"
	"	v2.z = texRECT(tex, TexRD.xy).g;\n"
	"	v2.w = texRECT(tex, TexRU.xy).g;\n"
	"	float2 dxdy = 0.5*(gg.yw - gg.xz); \n"
	"	float grad = length(dxdy);\n"
	"	float theta = grad==0? 0: atan2(dxdy.y, dxdy.x);\n"
	"	FragData0 = float4(cc.rg, grad, theta);\n"
	<<
	"	float dog = 0.0; \n"
	"	FragData1 = float4(0, 0, 0, 0); \n"
	"	float2 v3; float4 v4, v5, v6;\n"
	<<
	"	if( cc.g > THRESHOLD0 && all(cc.gggg > max(v1, v2)))\n"
	"	{\n"
	"		v3.x = texRECT(texU, TexCC.xy).g;\n"
	"		v4.x = texRECT(texU, TexLC.xy).g;\n"
	"		v4.y = texRECT(texU, TexRC.xy).g;\n"
	"		v4.z = texRECT(texU, TexCD.xy).g;\n"
	"		v4.w = texRECT(texU, TexCU.xy).g;\n"
	"		v6.x = texRECT(texU, TexLD.xy).g;\n"
	"		v6.y = texRECT(texU, TexLU.xy).g;\n"
	"		v6.z = texRECT(texU, TexRD.xy).g;\n"
	"		v6.w = texRECT(texU, TexRU.xy).g;\n"
	"		if(cc.g < v3.x || any(cc.gggg<v4.xyzw || cc.gggg<v6.xyzw))return; \n"
	"		v3.y = texRECT(texD, TexCC.xy).g;\n"
	"		v5.x = texRECT(texD, TexLC.xy).g;\n"
	"		v5.y = texRECT(texD, TexRC.xy).g;\n"
	"		v5.z = texRECT(texD, TexCD.xy).g;\n"
	"		v5.w = texRECT(texD, TexCU.xy).g;\n"
	"		v6.x = texRECT(texD, TexLD.xy).g;\n"
	"		v6.y = texRECT(texD, TexLU.xy).g;\n"
	"		v6.z = texRECT(texD, TexRD.xy).g;\n"
	"		v6.w = texRECT(texD, TexRU.xy).g;\n"
	"		if(cc.g < v3.y || any(cc.gggg<v5.xyzw || cc.gggg<v6.xyzw))return; \n"
	"		dog = 1.0; \n"
	"	}\n"
	//the minimum case
	<<
	"  else if(cc.g < -THRESHOLD0 && all(cc.gggg < min(v1, v2)))\n"
	"  {\n"
	"		v3.x = texRECT(texU, TexCC.xy).g;\n"
	"		v4.x = texRECT(texU, TexLC.xy).g;\n"
	"		v4.y = texRECT(texU, TexRC.xy).g;\n"
	"		v4.z = texRECT(texU, TexCD.xy).g;\n"
	"		v4.w = texRECT(texU, TexCU.xy).g;\n"
	"		v6.x = texRECT(texU, TexLD.xy).g;\n"
	"		v6.y = texRECT(texU, TexLU.xy).g;\n"
	"		v6.z = texRECT(texU, TexRD.xy).g;\n"
	"		v6.w = texRECT(texU, TexRU.xy).g;\n"
	"		if(cc.g > v3.x || any(cc.gggg>v4.xyzw || cc.gggg>v6.xyzw))return; \n"
	"		v3.y = texRECT(texD, TexCC.xy).g;\n"
	"		v5.x = texRECT(texD, TexLC.xy).g;\n"
	"		v5.y = texRECT(texD, TexRC.xy).g;\n"
	"		v5.z = texRECT(texD, TexCD.xy).g;\n"
	"		v5.w = texRECT(texD, TexCU.xy).g;\n"
	"		v6.x = texRECT(texD, TexLD.xy).g;\n"
	"		v6.y = texRECT(texD, TexLU.xy).g;\n"
	"		v6.z = texRECT(texD, TexRD.xy).g;\n"
	"		v6.w = texRECT(texD, TexRU.xy).g;\n"
	"		if(cc.g > v3.y || any(cc.gggg>v5.xyzw || cc.gggg>v6.xyzw))return; \n"
	"		dog = 0.5 ; \n"
	"	}\n"
	"	else\n"
	"		return;\n"
	<<
	"  int i = 0; \n"
	"  float2 offset = float2(0, 0);\n"
	"  float2 offsets = float2(0, 0);\n"
	"  float3 dxys;		bool key_moved;	\n"
	"  float fx, fy, fs; \n"
	"  float fxx, fyy, fxy; \n"
	"  float fxs, fys, fss; \n"
	"  do\n"
	"  {\n"
	"	dxys = float3(0, 0, 0);\n"
	"	offset = float2(0, 0);\n"
	"	float4 D2 = v1.xyzw - cc.gggg;\n"
	"	fxx = D2.x + D2.y;\n"
	"	fyy = D2.z + D2.w;\n"
	"	float2 D4 = v2.xw - v2.yz;\n"
	"	fxy = 0.25*(D4.x + D4.y);\n"
	"	float2 D5 = 0.5*(v1.yw-v1.xz); \n"
	"	fx = D5.x;\n"
	"	fy = D5.y ; \n"
	"	fs = 0.5*( v3.x - v3.y ); \n"
	"	fss = v3.x + v3.y - cc.g - cc.g;\n"
	"	fxs = 0.25 * ( v4.y + v5.x - v4.x - v5.y);\n"
	"	fys = 0.25 * ( v4.w + v5.z - v4.z - v5.w);\n"
	"	float4 A0, A1, A2 ;			\n"
	"	A0 = float4(fxx, fxy, fxs, -fx);	\n"
	"	A1 = float4(fxy, fyy, fys, -fy);	\n"
	"	A2 = float4(fxs, fys, fss, -fs);	\n"
	"	float3 x3 = abs(float3(fxx, fxy, fxs));		\n"
	"	float maxa = max(max(x3.x, x3.y), x3.z);	\n"
	"	if(maxa > 1e-10 )							\n"
	"	{\n"
	"		if(x3.y ==maxa )							\n"
	"		{											\n"
	"			float4 TEMP = A1; A1 = A0; A0 = TEMP;	\n"
	"		}else if( x3.z == maxa )					\n"
	"		{											\n"
	"			float4 TEMP = A2; A2 = A0; A0 = TEMP;	\n"
	"		}											\n"
	"		A0 /= A0.x;									\n"
	"		A1 -= A1.x * A0;							\n"
	"		A2 -= A2.x * A0;							\n"
	"		float2 x2 = abs(float2(A1.y, A2.y));		\n"
	"		if( x2.y > x2.x )							\n"
	"		{											\n"
	"			float3 TEMP = A2.yzw;					\n"
	"			A2.yzw = A1.yzw;						\n"
	"			A1.yzw = TEMP;							\n"
	"			x2.x = x2.y;							\n"
	"		}											\n"
	"		if(x2.x > 1e-10)							\n"
	"		{\n"
	"			A1.yzw /= A1.y;							\n"
	"			A2.yzw -= A2.y * A1.yzw;				\n"
	"			if(abs(A2.z) > 1e-10)					\n"
	"			{\n"
	// compute dx, dy, ds: 
	<<
	"				dxys.z = A2.w /A2.z;						\n"
	"				dxys.y = A1.w - dxys.z*A1.z;			    \n"
	"				dxys.x = A0.w - dxys.z*A0.z - dxys.y*A0.y;	\n"
	"			}\n"
	"		}\n"
	"	}\n"
	"	offset.x = dxys.x > 0.6 ? 1 : 0 + dxys.x < -0.6 ? -1 : 0;\n"
	"	offset.y = dxys.y > 0.6 ? 1 : 0 + dxys.y < - 0.6? -1 : 0;\n"
	"	i++; key_moved = i < MAX_REFINE && any(abs(offset)>0) ;	\n"
	"	if(key_moved)\n"
	"	{\n"
	"		offsets += offset; \n"
	"	    cc  =  texRECT(tex, TexCC.xy  + offsets);\n"
	"		v1.x = texRECT(tex , TexLC.xy + offsets).g;\n"
	"		v1.y = texRECT(tex , TexRC.xy + offsets).g;\n"
	"		v1.z = texRECT(tex , TexCD.xy + offsets).g;\n"
	"		v1.w = texRECT(tex , TexCU.xy + offsets).g;\n"
	"		v2.x = texRECT(tex , TexLD.xy + offsets).g;\n"
	"		v2.y = texRECT(tex , TexLU.xy + offsets).g;\n"
	"		v2.z = texRECT(tex , TexRD.xy + offsets).g;\n"
	"		v2.w = texRECT(tex , TexRU.xy + offsets).g;\n"
	"		v3.x = texRECT(texU, TexCC.xy + offsets).g;\n"
	"		v4.x = texRECT(texU, TexLC.xy + offsets).g;\n"
	"		v4.y = texRECT(texU, TexRC.xy + offsets).g;\n"
	"		v4.z = texRECT(texU, TexCD.xy + offsets).g;\n"
	"		v4.w = texRECT(texU, TexCU.xy + offsets).g;\n"
	"		v3.y = texRECT(texD, TexCC.xy + offsets).g;\n"
	"		v5.x = texRECT(texD, TexLC.xy + offsets).g;\n"
	"		v5.y = texRECT(texD, TexRC.xy + offsets).g;\n"
	"		v5.z = texRECT(texD, TexCD.xy + offsets).g;\n"
	"		v5.w = texRECT(texD, TexCU.xy + offsets).g;\n"
	"	}\n"
	"  }while(key_moved);\n"
	  <<
	"  bool test1 = (abs(cc.g + 0.5*dot(float3(fx, fy, fs), dxys ))> THRESHOLD1) ;\n"
	"  float test2_v1= fxx*fyy - fxy *fxy; \n"
	"  float test2_v2 = (fxx+fyy); \n"
	"  test2_v2 = test2_v2*test2_v2;\n"
	"  bool test2 = test2_v1>0 && test2_v2 < THRESHOLD2 * test2_v1; \n "
    //keep the point when the offset is less than 1
	<<
	"  FragData1 = test1 && test2 && all( abs(dxys) < 1)? float4( dog, dxys.xy+offsets, dxys.z) : float4(0, 0, 0, 0); \n"
	"}\n"	
	<<'\0';

	ProgramCG * program; 
	s_keypoint = program = new ProgramCG(buffer);
	//parameter
	_param_dog_texu = cgGetNamedParameter(*program, "texU");
	_param_dog_texd = cgGetNamedParameter(*program, "texD");

	return 1;

}

//keypoint detection shader
//1. compare with 26 neighbours
//2. sub-pixel sub-scale localization
//3. output: [dog, offset(x,y,s)]

void ShaderBagCG:: LoadKeypointShader(float threshold, float edge_threshold)
{
	char buffer[10240];
	float threshold0 = threshold* (GlobalUtil::_SubpixelLocalization?0.8f:1.0f);
	float threshold1 = threshold;
	float threshold2 = (edge_threshold+1)*(edge_threshold+1)/edge_threshold;
	ostrstream out(buffer, 10240);
	out<<setprecision(8);
	streampos pos;
	//tex(X)(Y)
	//X: (CLR) (CENTER 0, LEFT -1, RIGHT +1)  
	//Y: (CDU) (CENTER 0, DOWN -1, UP    +1) 

	out <<	"#define THRESHOLD0 " << threshold0 << "\n"
			"#define THRESHOLD1 " << threshold1 << "\n"
			"#define THRESHOLD2 " << threshold2 << "\n";
	out<<
	"void main (\n"
	"float4 TexCC : TEXCOORD0, float4 TexLC : TEXCOORD1,\n"
	"float4 TexRC : TEXCOORD2, float4 TexCD : TEXCOORD3, \n"
	"float4 TexCU : TEXCOORD4, float4 TexLD : TEXCOORD5, \n"
	"float4 TexLU : TEXCOORD6, float4 TexRD : TEXCOORD7,\n"
	"out float4 FragData0 : COLOR0, out float4 FragData1 : COLOR1, \n"
	"uniform samplerRECT tex, uniform samplerRECT texU, uniform samplerRECT texD)\n"
	"{\n"
	"	float4 v1, v2, gg;\n"
	"	float2 TexRU = float2(TexRC.x, TexCU.y); \n"
	"	float4 cc  = texRECT(tex, TexCC.xy);\n"
	"	v1.x = texRECT(tex, TexLC.xy).g;\n"
	"	gg.x = texRECT(tex, TexLC.xy).r;\n"
	"	v1.y = texRECT(tex, TexRC.xy).g;\n"
	"	gg.y = texRECT(tex, TexRC.xy).r;\n"
	"	v1.z = texRECT(tex, TexCD.xy).g;\n"
	"	gg.z = texRECT(tex, TexCD.xy).r;\n"
	"	v1.w = texRECT(tex, TexCU.xy).g;\n"
	"	gg.w = texRECT(tex, TexCU.xy).r;\n"
	"	v2.x = texRECT(tex, TexLD.xy).g;\n"
	"	v2.y = texRECT(tex, TexLU.xy).g;\n"
	"	v2.z = texRECT(tex, TexRD.xy).g;\n"
	"	v2.w = texRECT(tex, TexRU.xy).g;\n"
	"	float2 dxdy = (gg.yw - gg.xz); \n"
	"	float grad = 0.5*length(dxdy);\n"
	"	float theta = grad==0? 0: atan2(dxdy.y, dxdy.x);\n"
	"	FragData0 = float4(cc.rg, grad, theta);\n"

	//test against 8 neighbours
	//use variable to identify type of extremum
	//1.0 for local maximum and 0.5 for minimum
	<<
	"	float dog = 0.0; \n"
	"	FragData1 = float4(0, 0, 0, 0); \n"
	"	dog = cc.g > THRESHOLD0 && all(cc.gggg > max(v1, v2))?1.0: 0.0;\n"
	"	dog = cc.g < -THRESHOLD0 && all(cc.gggg < min(v1, v2))?0.5: dog;\n";

	pos = out.tellp();
	//do edge supression first.. 
	//vector v1 is < (-1, 0), (1, 0), (0,-1), (0, 1)>
	//vector v2 is < (-1,-1), (-1,1), (1,-1), (1, 1)>

	out<<
	"	if(dog == 0.0) return;\n"
	"	float fxx, fyy, fxy; \n"
	"	float4 D2 = v1.xyzw - cc.gggg;\n"
	"	float2 D4 = v2.xw - v2.yz;\n"
	"	fxx = D2.x + D2.y;\n"
	"	fyy = D2.z + D2.w;\n"
	"	fxy = 0.25*(D4.x + D4.y);\n"
	"	float fxx_plus_fyy = fxx + fyy;\n"
	"	float score_up = fxx_plus_fyy*fxx_plus_fyy; \n"
	"	float score_down = (fxx*fyy - fxy*fxy);\n"
	"	if( score_down <= 0 || score_up > THRESHOLD2 * score_down)return;\n"
	//...
	<<
	"	float2 D5 = 0.5*(v1.yw-v1.xz); \n"
	"	float fx = D5.x, fy = D5.y ; \n"
	"	float fs, fss , fxs, fys ; \n"
	"	float2 v3; float4 v4, v5, v6;\n"
	//read 9 pixels of upper level
	<<
	"	v3.x = texRECT(texU, TexCC.xy).g;\n"
	"	v4.x = texRECT(texU, TexLC.xy).g;\n"
	"	v4.y = texRECT(texU, TexRC.xy).g;\n"
	"	v4.z = texRECT(texU, TexCD.xy).g;\n"
	"	v4.w = texRECT(texU, TexCU.xy).g;\n"
	"	v6.x = texRECT(texU, TexLD.xy).g;\n"
	"	v6.y = texRECT(texU, TexLU.xy).g;\n"
	"	v6.z = texRECT(texU, TexRD.xy).g;\n"
	"	v6.w = texRECT(texU, TexRU.xy).g;\n"
	//compare with 9 pixels of upper level
	//read and compare with 9 pixels of lower level
	//the maximum case
	<<
	"	if(dog == 1.0)\n"
	"	{\n"
	"		bool4 test = cc.gggg < max(v4, v6); \n"
	"		if(cc.g < v3.x || any(test.xy||test.zw))return; \n"
	"		v3.y = texRECT(texD, TexCC.xy).g;\n"
	"		v5.x = texRECT(texD, TexLC.xy).g;\n"
	"		v5.y = texRECT(texD, TexRC.xy).g;\n"
	"		v5.z = texRECT(texD, TexCD.xy).g;\n"
	"		v5.w = texRECT(texD, TexCU.xy).g;\n"
	"		v6.x = texRECT(texD, TexLD.xy).g;\n"
	"		v6.y = texRECT(texD, TexLU.xy).g;\n"
	"		v6.z = texRECT(texD, TexRD.xy).g;\n"
	"		v6.w = texRECT(texD, TexRU.xy).g;\n"
	"		test = cc.gggg<max(v5, v6); \n"
	"		if(cc.g < v3.y || any(test.xy||test.zw))return; \n"
	"	}\n"
	//the minimum case
	<<
	"	else{\n"
	"		bool4 test = cc.gggg>min(v4, v6); \n"
	"		if(cc.g > v3.x || any(test.xy||test.zw))return; \n"
	"		v3.y = texRECT(texD, TexCC.xy).g;\n"
	"		v5.x = texRECT(texD, TexLC.xy).g;\n"
	"		v5.y = texRECT(texD, TexRC.xy).g;\n"
	"		v5.z = texRECT(texD, TexCD.xy).g;\n"
	"		v5.w = texRECT(texD, TexCU.xy).g;\n"
	"		v6.x = texRECT(texD, TexLD.xy).g;\n"
	"		v6.y = texRECT(texD, TexLU.xy).g;\n"
	"		v6.z = texRECT(texD, TexRD.xy).g;\n"
	"		v6.w = texRECT(texD, TexRU.xy).g;\n"
	"		test = cc.gggg>min(v5, v6); \n"
	"		if(cc.g > v3.y || any(test.xy||test.zw))return; \n"
	"	}\n";

	if(GlobalUtil::_SubpixelLocalization)

	// sub-pixel localization FragData1 = float4(dog, 0, 0, 0); return;
	out <<
	"	fs = 0.5*( v3.x - v3.y ); //bug fix 9/12/2007 \n"
	"	fss = v3.x + v3.y - cc.g - cc.g;\n"
	"	fxs = 0.25 * ( v4.y + v5.x - v4.x - v5.y);\n"
	"	fys = 0.25 * ( v4.w + v5.z - v4.z - v5.w);\n"
	
	///////////////////////////////////////////////////////////////// 
	// let dog difference be quatratic function  of dx, dy, ds; 
	// df(dx, dy, ds) = fx * dx + fy*dy + fs * ds + 
	//				  + 0.5 * ( fxx * dx * dx + fyy * dy * dy + fss * ds * ds)
	//				  + (fxy * dx * dy + fxs * dx * ds + fys * dy * ds)
	// (fx, fy, fs, fxx, fyy, fss, fxy, fxs, fys are the derivatives)
	
	//the local extremum satisfies
	// df/dx = 0, df/dy = 0, df/dz = 0
	
	//that is 
	// |-fx|     | fxx fxy fxs |   |dx|
	// |-fy|  =  | fxy fyy fys | * |dy|
	// |-fs|     | fxs fys fss |   |ds|
	// need to solve dx, dy, ds

	// Use Gauss elimination to solve the linear system
    <<
	"	float3 dxys = float3(0.0);			\n"
	"	float4 A0, A1, A2 ;			\n"
	"	A0 = float4(fxx, fxy, fxs, -fx);	\n"
	"	A1 = float4(fxy, fyy, fys, -fy);	\n"
	"	A2 = float4(fxs, fys, fss, -fs);	\n"
	"	float3 x3 = abs(float3(fxx, fxy, fxs));		\n"
	"	float maxa = max(max(x3.x, x3.y), x3.z);	\n"
	"	if(maxa >= 1e-10 ) {						\n"
	"	if(x3.y ==maxa )							\n"
	"	{											\n"
	"		float4 TEMP = A1; A1 = A0; A0 = TEMP;	\n"
	"	}else if( x3.z == maxa )					\n"
	"	{											\n"
	"		float4 TEMP = A2; A2 = A0; A0 = TEMP;	\n"
	"	}											\n"
	"	A0 /= A0.x;									\n"
	"	A1 -= A1.x * A0;							\n"
	"	A2 -= A2.x * A0;							\n"
	"	float2 x2 = abs(float2(A1.y, A2.y));		\n"
	"	if( x2.y > x2.x )							\n"
	"	{											\n"
	"		float3 TEMP = A2.yzw;					\n"
	"		A2.yzw = A1.yzw;						\n"
	"		A1.yzw = TEMP;							\n"
	"		x2.x = x2.y;							\n"
	"	}											\n"
	"	if(x2.x >= 1e-10) {						\n"
	"	A1.yzw /= A1.y;								\n"
	"	A2.yzw -= A2.y * A1.yzw;					\n"
	"	if(abs(A2.z) >= 1e-10) {				\n"
	// compute dx, dy, ds: 
	<<
	"	dxys.z = A2.w /A2.z;				    \n"
	"	dxys.y = A1.w - dxys.z*A1.z;			    \n"
	"	dxys.x = A0.w - dxys.z*A0.z - dxys.y*A0.y;	\n"

	//one more threshold which I forgot in  versions prior to 286
	<<
	"	bool bugfix_test = (abs(cc.g + 0.5*dot(float3(fx, fy, fs), dxys )) < THRESHOLD1) ;\n"
	"	if(bugfix_test || any(abs(dxys) >= 1.0)) dog = 0; \n"
	"	}}}\n"
    //keep the point when the offset is less than 1
	<<
	"	FragData1 = float4( dog, dxys); \n"
	"}\n"	<<'\0';

	else		out<<
	"	FragData1 =  float4( dog, 0, 0, 0) ;	\n"
	"}\n"	<<'\0';

	ProgramCG * program; 
	s_keypoint = program = new ProgramCG(buffer);
	if(!program->IsValidProgram())
	{
		delete program;
		out.seekp(pos);
		out << 
	"	FragData1 =  float4( fabs(cc.g) > 2.0 * THRESHOLD0? dog : 0, 0, 0, 0) ;	\n"
	"}\n" <<'\0';
		s_keypoint = program = new ProgramCG(buffer);
		GlobalUtil::_SubpixelLocalization = 0;
		std::cerr<<"Detection simplified on this hardware"<<endl;
	}
	//parameter
	_param_dog_texu = cgGetNamedParameter(*program, "texU");
	_param_dog_texd = cgGetNamedParameter(*program, "texD");




}


void ShaderBagCG::SetDogTexParam(int texU, int texD)
{
	cgGLSetTextureParameter(_param_dog_texu, texU);
	cgGLEnableTextureParameter(_param_dog_texu);
	cgGLSetTextureParameter(_param_dog_texd, texD);
	cgGLEnableTextureParameter(_param_dog_texd);
}

void ShaderBagCG::SetGenListStepParam(int tex, int tex0)
{
	cgGLSetTextureParameter(_param_genlist_step_tex, tex);
	cgGLEnableTextureParameter(_param_genlist_step_tex);
	cgGLSetTextureParameter(_param_genlist_step_tex0, tex0);
	cgGLEnableTextureParameter(_param_genlist_step_tex0);
}

void ShaderBagCG::SetGenVBOParam(float width, float fwidth, float size)
{
	float sizes[4] = {size*3.0f, fwidth, width, 1.0f/width};
	cgGLSetParameter4fv(_param_genvbo_size, sizes);
}


ProgramGPU* FilterGLCG::CreateFilterH(float kernel[], float offset[], int width)
{


	char buffer[10240];
	ostrstream out(buffer, 10240);

	out<<setprecision(8);

	if(GlobalUtil::_BetaFilter)
	{
		out<< "void main(uniform samplerRECT tex,";
		out<<"\n\tin float4 TexCoord0: TEXCOORD0,";
		out<<"\n\tout float4 FragColor : COLOR0 )";
		out<<"\n{\n\tfloat4 intensity4 = float4(0, 0, 0, 0), data;\n";
		out<<"float or = texRECT(tex, TexCoord0.xy).r, intensity;\n";

		for(int i = 0; i< width; i+=4)
		{
			out <<"data = float4(";
			for(int j = i; j < i + 4; j++)
			{
				if(j != i) out <<", \n";
				if(j >= width)
				{
					out<<"0";
				}else if(offset[j]==0.0)
				{
					out<<"or";
				}else
				{
					out<<"texRECT(tex, TexCoord0.xy + float2(float("<<offset[j] <<") , 0)).r";
				}
			}
			out << ");\n";
			out << "intensity4 += data * float4(";
			for(int k = i; k < i + 4; k++)
			{
				if(k != i) out <<", ";
				if(k >= width)	out<<"0";
				else			out<<kernel[k];
			}
			out << ");\n";

 		}
		out << "intensity4.xy += intensity4.zw;\n";
		out << "intensity = intensity4.x + intensity4.y;\n";
	}else
	{
		out<< "void main(uniform samplerRECT tex,";
		out<<"\n\tin float4 TexCoord0: TEXCOORD0,";
		out<<"\n\tout float4 FragColor : COLOR0 )";
		out<<"\n{\n\tfloat intensity = 0.0 ;  float2 pos;\n";

		for(int i = 0; i< width; i++)
		{
			if(offset[i]==0.0)
			{
				out<<"float or = texRECT(tex, TexCoord0.xy).r;\n";
				out<<"intensity+= or * "<<kernel[i]<<";\n";

			}else
			{
				out<<"pos = TexCoord0.xy + float2(float("<<offset[i] <<") , 0);\n";
				out<<"intensity+= "<<kernel[i]<<"*texRECT(tex, pos).r;\n";
			}
		}
	}
	//copy original data to red channel
	out<<"FragColor.r = or;\n"; 
	out<<"FragColor.b  = intensity;}\n"<<'\0';

	return new ProgramCG( buffer);
}


ProgramGPU* FilterGLCG::CreateFilterV(float kernel[], float offset[], int height)
{
	char buffer[10240];
	ostrstream out(buffer, 10240);
	out<<setprecision(8);

	if(GlobalUtil::_BetaFilter)
	{
		out<< "void main(uniform samplerRECT tex,";
		out<<"\n\tin float4 TexCoord0: TEXCOORD0,";
		out<<"\n\tout float4 FragColor : COLOR0 )";
		out<<"\n{\n\tfloat4 intensity4 = float4(0, 0, 0, 0), data;\n";
		out<<"float2 orb = texRECT(tex, TexCoord0.xy).rb; float intensity;\n";

		for(int i = 0; i< height; i+=4)
		{
			out <<"data = float4(";
			for(int j = i; j < i + 4; j++)
			{
				if(j != i) out <<", \n";
				if(j >= height)
				{
					out<<"0";
				}else if(offset[j]==0.0)
				{
					out<<"orb.y";
				}else
				{
					out<<"texRECT(tex, TexCoord0.xy + float2(0, float("<<offset[j] <<"))).b";
				}
			}
			out << ");\n";
			out << "intensity4 += data * float4(";
			for(int k = i; k < i + 4; k++)
			{
				if(k != i) out <<", ";
				if(k >= height)	out<<"0";
				else			out<<kernel[k];
			}
			out << ");\n";

 		}
		out << "intensity4.xy += intensity4.zw;\n";
		out << "intensity = intensity4.x + intensity4.y;\n";
	}else
	{
		out<< "void main(uniform samplerRECT tex,";
		out<<"\n\tin float4 TexCoord0: TEXCOORD0,";
		out<<"\n\tout float4 FragColor : COLOR0 )";
		out<<"\n{\n\tfloat intensity = 0.0 ;  float2 pos;\n";

		for(int i = 0; i< height; i++)
		{
			if(offset[i]==0.0)
			{
				out<<"float2 orb = texRECT(tex, TexCoord0.xy).rb;\n";
				out<<"intensity+= orb.y * "<<kernel[i]<<";\n";

			}else
			{
				out<<"pos = TexCoord0.xy + float2(0, float("<<offset[i] <<"));\n";
				out<<"intensity+= "<<kernel[i]<<"*texRECT(tex, pos).b;\n";
			}
		}
	}
	out<<"FragColor.b = orb.y;\n";
	out<<"FragColor.g = intensity - orb.x;\n"; // difference of gaussian..
	out<<"FragColor.r = intensity;}\n"<<'\0';
	
	return new ProgramCG( buffer);
}


ProgramGPU* FilterGLCG::CreateFilterHPK(float kernel[], float offset[], int width)
{
	//both h and v are packed...
	int i, j , xw, xwn;
	int halfwidth  = width >>1;
	float * pf = kernel + halfwidth;
	int nhpixel = (halfwidth+1)>>1;	//how many neighbour pixels need to be looked up
	int npixel  = (nhpixel<<1)+1;//
	char buffer[10240];
	float weight[3];
	ostrstream out(buffer, 10240);
	out<<setprecision(8);

	out<< "void main(uniform samplerRECT tex, float4 TexCoord0 : TEXCOORD0, out float4 FragColor : COLOR0 ){\n";
	out<< "float4 result = float4(0, 0, 0, 0); \nfloat4 pc; float2 coord; \n";
	///use multi texture coordinate because nhpixels can be at most 3
	for( i = 0 ; i < npixel ; i++)
	{

		out<<"coord = TexCoord0.xy + float2(float("<<i-nhpixel<<"),0);\n";
		out<<"pc=texRECT(tex, coord);\n";
		if(GlobalUtil::_PreciseBorder)		out<<"if(coord.x < 0) pc = pc.rrbb;\n";

		//for each sub-pixel j  in center, the weight of sub-pixel k 
		xw = (i - nhpixel)*2;
		for( j = 0; j < 3; j++)
		{
			xwn = xw  + j  -1;
			weight[j] = xwn < -halfwidth || xwn > halfwidth? 0 : pf[xwn];
		}
		//if(weight[1]!=0.0)	out<<"FragColor += "<<weight[1]<<"*pc;\n";
		//out<<"FragColor += float4("<<weight[2]<<","<<weight[0]<<","<<weight[2]<<","<<weight[0]<<")*pc.grab;\n";

		if(weight[1] == 0.0)
		{
			out<<"result += float4("<<weight[2]<<","<<weight[0]<<","<<weight[2]<<","<<weight[0]<<")*pc.grab;\n";
		}
		else
		{
			out<<"result += float4("<<weight[1]<<", "<<weight[0]<<", "<<weight[1]<<", "<<weight[0]<<")*pc.rrbb;\n";
			out<<"result += float4("<<weight[2]<<", "<<weight[1]<<", "<<weight[2]<<", "<<weight[1]<<")*pc.ggaa;\n";
		}

	}
	out<<
	"	 FragColor = result; }\n"<<'\0';
	return new ProgramCG( buffer);
}

ProgramGPU* FilterGLCG::CreateFilterVPK(float kernel[], float offset[], int height)
{

	//both h and v are packed...
	int i, j , yw, ywn;
	int halfh  = height >>1;
	float * pf = kernel + halfh;
	int nhpixel = (halfh+1)>>1;	//how many neighbour pixels need to be looked up
	int npixel  = (nhpixel<<1)+1;//
	char buffer[10240];
	float weight[3];
	ostrstream out(buffer, 10240);
	out<<setprecision(8);

	out<< "void main(uniform samplerRECT tex, float4 TexCoord0 : TEXCOORD0, out float4 FragColor : COLOR0 ){\n";
	out<< "float4 result = float4(0, 0, 0, 0);\nfloat4 pc; float2 coord;\n";
	///use multi texture coordinate because nhpixels can be at most 3

	for( i = 0 ; i < npixel ; i++)
	{

		out<<"coord = TexCoord0.xy + float2(0, float("<<i-nhpixel<<"));\n";
		out<<"pc=texRECT(tex, coord);\n";
		if(GlobalUtil::_PreciseBorder)	out<<"if(coord.y < 0) pc = pc.rgrg;\n";
		//for each sub-pixel j  in center, the weight of sub-pixel k 
		yw = (i - nhpixel)*2;
		for( j = 0; j < 3; j++)
		{
			ywn = yw + j  -1;
			weight[j] = ywn < -halfh || ywn > halfh? 0 : pf[ywn];
		}
		//if(weight[1]!=0.0)	out<<"FragColor += "<<weight[1]<<"*pc;\n";
		//out<<"FragColor += float4("<<weight[2]<<","<<weight[2]<<","<<weight[0]<<","<<weight[0]<<")*pc.barg;\n";
		if(weight[1] == 0.0)
		{
			out<<"result += float4("<<weight[2]<<","<<weight[2]<<","<<weight[0]<<","<<weight[0]<<")*pc.barg;\n";
		}else
		{
			out<<"result += float4("<<weight[1]<<","<<weight[1]<<","<<weight[0]<<","<<weight[0]<<")*pc.rgrg;\n";
			out<<"result += float4("<<weight[2]<<","<<weight[2]<<","<<weight[1]<<","<<weight[1]<<")*pc.baba;\n";
		}
	}
	out<<
	"	 FragColor = result; }\n"<<'\0';
	return new ProgramCG( buffer);
}


void ShaderBagCG::LoadGenListShader(int ndoglev, int nlev)
{
	ProgramCG * program;

	s_genlist_init_tight = new ProgramCG(
	"void main (\n"
	"uniform samplerRECT tex, in float4 TexCoord0 : TEXCOORD0,\n"
	"in float4 TexCoord1 : TEXCOORD1, in float4 TexCoord2 : TEXCOORD2, in float4 TexCoord3 : TEXCOORD3,\n"
	"out float4 FragColor : COLOR0){\n"
	"float4 helper = float4( texRECT(tex, TexCoord0.xy).r,  texRECT(tex, TexCoord1.xy).r,\n"
	"texRECT(tex, TexCoord2.xy).r, texRECT(tex, TexCoord3.xy).r);\n"
	"FragColor = float4(helper>0.0);\n"
	"}");

	s_genlist_init_ex = program = new ProgramCG(
	"void main (uniform float2 bbox, \n"
	"uniform samplerRECT tex, \n"
	"in float4 TexCoord0 : TEXCOORD0,\n"
	"in float4 TexCoord1 : TEXCOORD1, \n"
	"in float4 TexCoord2 : TEXCOORD2, \n"
	"in float4 TexCoord3 : TEXCOORD3,\n"
	"out float4 FragColor : COLOR0){\n"
	"float4 helper = float4( \n"
	"texRECT(tex, TexCoord0.xy).r, texRECT(tex, TexCoord1.xy).r,\n"
	"texRECT(tex, TexCoord2.xy).r, texRECT(tex, TexCoord3.xy).r);\n"
	"bool4 helper4 = bool4(TexCoord0.xy < bbox, TexCoord3.xy < bbox); \n"
	"bool4 helper2 = helper4.xzxz && helper4.yyww; \n"
	"FragColor = float4(helper2 && (helper>0.0 ));\n"
	"}");
	_param_genlist_init_bbox = cgGetNamedParameter( *program, "bbox");


	//reduction ...
	s_genlist_histo = new ProgramCG(
	"void main (\n"
	"uniform samplerRECT tex, in float2 TexCoord0 : TEXCOORD0,\n"
	"in float2 TexCoord1 : TEXCOORD1, in float2 TexCoord2 : TEXCOORD2, in float2 TexCoord3 : TEXCOORD3,\n"
	"out float4 FragColor : COLOR0){\n"
	"float4 helper; float4 helper2; \n"
	"helper = texRECT(tex, TexCoord0); helper2.xy = helper.xy + helper.zw; \n"
	"helper = texRECT(tex, TexCoord1); helper2.zw = helper.xy + helper.zw; \n"
	"FragColor.rg = helper2.xz + helper2.yw;\n"
	"helper = texRECT(tex, TexCoord2); helper2.xy = helper.xy + helper.zw; \n"
	"helper = texRECT(tex, TexCoord3); helper2.zw = helper.xy + helper.zw; \n"
	"FragColor.ba= helper2.xz+helper2.yw;\n"
	"}");


	//read of the first part, which generates tex coordinates 

	s_genlist_start= program =  LoadGenListStepShader(1, 1);
	_param_ftex_width= cgGetNamedParameter(*program, "width");
	_param_genlist_start_tex0 = cgGetNamedParameter(*program, "tex0");
	//stepping
	s_genlist_step = program = LoadGenListStepShader(0, 1);
	_param_genlist_step_tex= cgGetNamedParameter(*program, "tex");
	_param_genlist_step_tex0= cgGetNamedParameter(*program, "tex0");


}

ProgramCG* ShaderBagCG::LoadGenListStepShader(int start, int step)
{
	int i;
	char buffer[10240];
	//char chanels[5] = "rgba";
	ostrstream out(buffer, 10240);
	out<<"void main(out float4 FragColor : COLOR0, \n";

	for(i = 0; i < step; i++) out<<"uniform samplerRECT tex"<<i<<",\n";

	if(start)
	{
		out<<"uniform float width, \nin float2 tpos : TEXCOORD0){\n";
		out<<"float  index = floor(tpos.y) * width + floor(tpos.x) + 0.0001;\n";
		out<<"float2 pos = float2(0.5, 0.5);\n";
	}else
	{
		out<<"uniform samplerRECT tex, in float2 tpos: TEXCOORD0 ){\n";
		out<<"float4 tc = texRECT( tex, tpos);\n";
		out<<"float2 pos = tc.rg; float index = tc.b;\n";
	}
	out<<"float2 sum; 	float4 cc;\n";



	if(step>0)
	{
		out<<"float2 cpos = float2(-0.5, 0.5);\t float2 opos;\n";
		for(i = 0; i < step; i++)
		{
//#define SETP_CODE_2

#ifndef SETP_CODE_2
/*			out<<"cc = texRECT(tex"<<i<<", pos);\n";
			out<<"float sum3[3] = {cc.r, cc.r + cc.g, cc.r + cc.g + cc.b};\n";
			out<<"float3 cmp = float3(index > float3(sum3[0], sum3[1], sum3[2]));\n";
			out<<"opos.y = -0.5 + cmp.y; opos.x = -0.5 + cmp.x + (cmp.z - cmp.y);\n";
			out<<"index -= dot(cmp, cc.rgb);\n";
			out<<"pos = (pos + pos + opos);\n";*/

			out<<"cc = texRECT(tex"<<i<<", pos); sum.x = cc.r + cc.g;\n";
			out<<"if (index < sum.x){ if(index < cc.r) opos = cpos.xx; else {opos = cpos.yx; index -= cc.r;}}\n";
			out<<"else {index -= sum.x; if(index < cc.b) opos = cpos.xy; else{opos = cpos.yy; index -= cc.b;}}";
			out<<"pos = (pos + pos + opos);\n";

/*			out<<"cc = texRECT(tex"<<i<<", pos);\n";
			out<<"if (index <cc.r){ opos = cpos.xx;}\n";
			out<<"else{sum.x = cc.r + cc.g;";
					out<<"if(index < sum.x ) {opos = cpos.yx; index -= cc.r;}\n";
					out<<"else{sum.y = sum.x + cc.b;";
							out<<"if(index < sum.y ) {opos = cpos.xy; index -= sum.x;}\n";
							out<<"else {opos = cpos.yy; index -= sum.y;}}}\n";
			out<<"pos = (pos + pos + opos);\n";*/

#else
			out<<"cc = texRECT(tex"<<i<<", pos);\n";
			out<<"if (index < cc.r) opos = cpos.xx;\n";
			out<<"else if (index < cc.r + cc.g){opos = cpos.yx; index -= cc.r;}\n";
			out<<"else if (index < cc.r + cc.g + cc.b){opos = cpos.xy; index -= (cc.r + cc.g);}\n";
			out<<"else {opos = cpos.yy; index -= (cc.r + cc.g + cc.b);}\n";
			out<<"pos = (pos + pos + opos);\n";
#endif
		}
	}
	out<<"FragColor = float4(pos, index, 1);\n";
	out<<"}\n"<<'\0';
	return new ProgramCG(buffer);
}

void ShaderBagCG::SetGenListInitParam(int w, int h)
{
	float bbox[2] = {w -1.0f, h - 1.0f};
	cgGLSetParameter2fv(_param_genlist_init_bbox, bbox);
}

void ShaderBagCG::SetGenListStartParam(float width, int tex0)
{
	cgGLSetParameter1f(_param_ftex_width, width);

	if(_param_genlist_start_tex0)
	{
		cgGLSetTextureParameter(_param_genlist_start_tex0, tex0);
		cgGLEnableTextureParameter(_param_genlist_start_tex0);
	}
}

void ShaderBagCG::LoadDescriptorShaderF2()
{
	//one shader outpout 128/8 = 16 , each fragout encodes 4
	//const double twopi = 2.0*3.14159265358979323846;
	//const double rpi  = 8.0/twopi;
	char buffer[10240];
	ostrstream out(buffer, 10240);

	out<<setprecision(8);

	out<<"\n"
	"#define M_PI 3.14159265358979323846\n"
	"#define TWO_PI (2.0*M_PI)\n"
	"#define RPI 1.2732395447351626861510701069801\n"
	"#define WF size.z\n"
	"void main(uniform samplerRECT tex,		\n"
	"uniform	samplerRECT gradTex,			\n"
	"uniform float4		dsize,				\n"
	"uniform float3		size,				\n"
	"in		float2	TexCoord0 : TEXCOORD0,	\n"
	"out		float4  FragData0:COLOR0,		\n"
	"out		float4	FragData1:COLOR1)		\n"
	"{\n"
	"	float2 dim	= size.xy;	//image size			\n"
	"	float index = dsize.x * floor(TexCoord0.y * 0.5) + TexCoord0.x;\n"
	"	float idx = 8.0 * frac(index * 0.125) + 8.0 * floor(2.0 * frac(TexCoord0.y * 0.5));		\n"
	"	index = floor(index*0.125) + 0.49;  \n"
	"	float2 coord = floor( float2( fmod(index, dsize.z), index*dsize.w)) + 0.5 ;\n"
	"	float2 pos = texRECT(tex, coord).xy;		\n"
	"	if(any(pos.xy <= 1) || any(pos.xy >=dim-1)) "
	"	//discard;	\n"
	"	{ FragData0 = FragData1 = float4(0.0); return; }\n"
	"	float  anglef = texRECT(tex, coord).z;\n"
	"	if(anglef > M_PI) anglef -= TWO_PI;\n"
	"	float sigma = texRECT(tex, coord).w; \n"
	"	float spt  = abs(sigma * WF);	//default to be 3*sigma	\n";

	//rotation
	out<<
	"	float4 cscs, rots;								\n"
	"	sincos(anglef, cscs.y, cscs.x);					\n"
	"	cscs.zw = - cscs.xy;							\n"
	"	rots = cscs /spt;								\n"
	"	cscs *= spt; \n";

	//here cscs is actually (cos, sin, -cos, -sin) * (factor: 3)*sigma
	//and rots is  (cos, sin, -cos, -sin ) /(factor*sigma)
	//devide the 4x4 sift grid into 16 1x1 block, and each corresponds to a shader thread
	//To use linear interoplation, 1x1 is increased to 2x2, by adding 0.5 to each side
	out<<
	"	float4 temp; float2 pt, offsetpt;				\n"
	"	/*the fraction part of idx is .5*/			\n"
	"	offsetpt.x = 4.0 * frac(idx*0.25) - 2.0;				\n"
	"	offsetpt.y = floor(idx*0.25) - 1.5;			\n"
	"	temp = cscs.xwyx*offsetpt.xyxy;				\n"
	"	pt = pos + temp.xz + temp.yw;				\n";
	
	//get a horizontal bounding box of the rotated rectangle
	out<<
	"	float2 bwin = abs(cscs.xy);					\n"
	"	float bsz = bwin.x + bwin.y;					\n"
	"	float4 sz;	float2 spos;					\n"
	"	sz.xy = max(pt - bsz, float2(1,1));\n"
	"	sz.zw = min(pt + bsz, dim - 2);		\n"
	"	sz = floor(sz)+0.5;"; //move sample point to pixel center

	//get voting for two box
	out<<"\n"
	"	float4 DA, DB;			\n"
	"	DA = DB  = float4(0, 0, 0, 0);		\n"
	"	for(spos.y = sz.y; spos.y <= sz.w;	spos.y+=1.0)				\n"
	"	{																\n"
	"		for(spos.x = sz.x; spos.x <= sz.z;	spos.x+=1.0)			\n"
	"		{															\n"
	"			float2 diff = spos - pt;								\n"
	"			temp = rots.xywx * diff.xyxy;							\n"
	"			float2 nxy = (temp.xz + temp.yw);						\n"
	"			float2 nxyn = abs(nxy);									\n"
	"			if(all(nxyn < float2(1.0)))\n"
	"			{\n"
	"				float4 cc = texRECT(gradTex, spos);						\n"
	"				float mod = cc.b;	float angle = cc.a;					\n"
	"				float theta0 = (anglef - angle)*RPI;				\n"
	"				float theta = theta0 < 0? theta0 + 8.0 : theta0; // fmod(theta0 + 8.0, 8.0); \n"
	"				diff = nxy + offsetpt.xy;								\n"
	"				float ww = exp(-0.125*dot(diff, diff));\n"
	"				float2 weights = 1 - nxyn;\n"
	"				float weight = weights.x * weights.y *mod*ww; \n"
	"				float theta1 = floor(theta); \n"
	"				float weight2 = (theta - theta1) * weight; \n"
	"				float weight1 = weight - weight2;\n"
	"				DA += float4(theta1 == float4(0, 1, 2, 3))*weight1; \n"
	"				DA += float4(theta1 == float4(7, 0, 1, 2))*weight2; \n"
	"				DB += float4(theta1 == float4(4, 5, 6, 7))*weight1;	\n"
	"				DB += float4(theta1 == float4(3, 4, 5, 6))*weight2; \n"
	"			}\n"
	"		}\n"
	"	}\n";

	out<<
	"	FragData0 = DA; FragData1 = DB;\n"
	"}\n"<<'\0';

	ProgramCG * program; 
	s_descriptor_fp = program =  new ProgramCG(buffer);
	_param_descriptor_gtex = cgGetNamedParameter(*program, "gradTex");
	_param_descriptor_size = cgGetNamedParameter(*program, "size");
	_param_descriptor_dsize = cgGetNamedParameter(*program, "dsize");


}

//the shader that computes the descriptors
void ShaderBagCG::LoadDescriptorShader()
{
	GlobalUtil::_DescriptorPPT = 16;
	LoadDescriptorShaderF2();
}

void ShaderBagCG::LoadOrientationShader()
{

	char buffer[10240];
	ostrstream out(buffer,10240);


	out<<"\n"
	"#define GAUSSIAN_WF "<<GlobalUtil::_OrientationGaussianFactor<<" \n"
	"#define SAMPLE_WF ("<<GlobalUtil::_OrientationWindowFactor<< " )\n"
	"#define ORIENTATION_THRESHOLD "<< GlobalUtil::_MulitiOrientationThreshold << "\n"
	"void main(uniform samplerRECT tex,			\n"
	"uniform samplerRECT gradTex,		\n"
	"		uniform float4 size,				\n"
	"		in float2 TexCoord0 : TEXCOORD0,	\n"
	"		out float4 FeatureData : COLOR0	";

	//multi orientation output
	//use one additional texture to store up to four orientations
	//when we use one 32bit float to store two orientations, no extra texture is required

	if(GlobalUtil::_MaxOrientation >1  && GlobalUtil::_OrientationPack2 == 0)
		out<<", out float4 OrientationData : COLOR1";

	if(GlobalUtil::_SubpixelLocalization || GlobalUtil::_KeepExtremumSign)
	{
		//data for sub-pixel localization
		out<<", uniform samplerRECT texS";
	}

	//use 9 float4 to store histogram of 36 directions
	out<<")		\n"
	"{													\n"
	"	float4 bins[10];								\n"
	"	for (int i=0; i<9; i++) bins[i] = float4(0,0,0,0);	\n"
	"	const float4 loc = texRECT(tex, TexCoord0);			\n"
	"	const bool orientation_mode = (size.z != 0);			\n"
	"	float2 pos = loc.xy;							\n"
	"	float sigma = orientation_mode? abs(size.z) : loc.w; \n";
	if(GlobalUtil::_SubpixelLocalization || GlobalUtil::_KeepExtremumSign)
	{
		out<<
	"	if(orientation_mode) {\n"
	"		float4 keyx = texRECT(texS, pos);\n"
	"		sigma = sigma * pow(size.w, keyx.w); \n"
	"		pos.xy = pos.xy + keyx.yz; \n"
	"		#if " << GlobalUtil::_KeepExtremumSign << "\n"
	"			if(keyx.x<0.6) sigma = - sigma;\n"
	"		#endif\n"
	"	}\n";
	}

	out<<
	"	//bool fixed_orientation = (size.z < 0);		\n"
	"	if(size.z < 0) {FeatureData = float4(pos, 0, sigma); return;}"
	"	const float gsigma = sigma * GAUSSIAN_WF;				\n"
	"	const float2 win = abs(sigma.xx) * (SAMPLE_WF * GAUSSIAN_WF);	\n"
	"	const float2 dim = size.xy;							\n"
	"	const float dist_threshold = win.x*win.x+0.5;			\n"
	"	const float factor = -0.5/(gsigma*gsigma);			\n"
	"	float4 sz;	float2 spos;						\n"
	"	//if(any(pos.xy <= 1)) discard;					\n"
	"	sz.xy = max( pos - win, float2(1,1));			\n"
	"	sz.zw = min( pos + win, dim-2);				\n"
	"	sz = floor(sz)+0.5;";
	//loop to get the histogram

	out<<"\n"
	"	for(spos.y = sz.y; spos.y <= sz.w;	spos.y+=1.0)				\n"
	"	{																\n"
	"		for(spos.x = sz.x; spos.x <= sz.z;	spos.x+=1.0)			\n"
	"		{															\n"
	"			const float2 offset = spos - pos;						\n"
	"			const float sq_dist = dot(offset,offset);				\n"
	"			if( sq_dist < dist_threshold){							\n"
	"				const float4 cc = texRECT(gradTex, spos);			\n"
	"				const float grad = cc.b;	float theta = cc.a;		\n"
	"				float idx = floor(degrees(theta)*0.1);		\n"
	"				const float weight = grad*exp(sq_dist * factor);				\n"
	"				if(idx < 0 ) idx += 36;									\n"
	"				const float vidx = 4.0 * fract(idx * 0.25);//fmod(idx, 4);								\n"
	"				const float4 inc = weight*float4(vidx == float4(0,1,2,3));	";

	if(GlobalUtil::_UseDynamicIndexing && strcmp(cgGetProfileString(ProgramCG::_FProfile), "gp4fp")==0)
//	if(ProgramCG::_FProfile == CG_PROFILE_GPU_FP) this enumerant is not defined in cg1.5
	{
		//gp_fp supports dynamic indexing
		out<<"\n"
	"				int iidx = int(floor(idx*0.25));	\n"
	"				bins[iidx]+=inc;					\n"
	"			}										\n"
	"		}											\n"
	"	}";

	}else
	{
		//nvfp40 still does not support dynamic array indexing
		//unrolled binary search...
		out<<"\n"
	"				if(idx < 16)							\n"
	"				{										\n"
	"					if(idx < 8)							\n"
	"					{									\n"
	"						if(idx < 4)	{	bins[0]+=inc;}	\n"
	"						else		{	bins[1]+=inc;}	\n"
	"					}else								\n"
	"					{									\n"
	"						if(idx < 12){	bins[2]+=inc;}	\n"
	"						else		{	bins[3]+=inc;}	\n"
	"					}									\n"
	"				}else if(idx < 32)						\n"
	"				{										\n"
	"					if(idx < 24)						\n"
	"					{									\n"
	"						if(idx <20)	{	bins[4]+=inc;}	\n"
	"						else		{	bins[5]+=inc;}	\n"
	"					}else								\n"
	"					{									\n"
	"						if(idx < 28){	bins[6]+=inc;}	\n"
	"						else		{	bins[7]+=inc;}	\n"
	"					}									\n"
	"				}else 						\n"
	"				{										\n"
	"					bins[8]+=inc;						\n"
	"				}										\n"
	"			}										\n"
	"		}											\n"
	"	}";

	}

	WriteOrientationCodeToStream(out);

	ProgramCG * program;
	s_orientation = program = new ProgramCG(buffer);
	_param_orientation_gtex = cgGetNamedParameter(*program, "gradTex");
	_param_orientation_size = cgGetNamedParameter(*program, "size");
	_param_orientation_stex = cgGetNamedParameter(*program, "texS");
}

void ShaderBagCG::WriteOrientationCodeToStream(std::ostream& out)
{
	//smooth histogram and find the largest
/*
	smoothing kernel:	 (1 3 6 7 6 3 1 )/27
	the same as 3 pass of (1 1 1)/3 averaging
	maybe better to use 4 pass on the vectors...
*/


	//the inner loop on different array numbers is always unrolled in fp40

	//bug fixed here:)
	out<<"\n"
	"	float3x3 mat1 = float3x3(1, 0, 0, 3, 1, 0, 6, 3, 1)/27.0;; //bug fix.. \n"
	"	float4x4 mat2 = float4x4( 7, 6, 3, 1, 6, 7, 6, 3, 3, 6, 7, 6, 1, 3, 6, 7)/27.0;;\n"
	"	for (int j=0; j<2; j++)								\n"
	"	{												\n"
	"		float4 prev  = bins[8];						\n"
	"		bins[9]		 = bins[0];						\n"
	"		for (int i=0; i<9; i++)							\n"
	"		{												\n"
	"			float4 newb	=	mul ( bins[i], mat2);		\n"
	"			newb.xyz	+=	mul ( prev.yzw, mat1);		\n"
	"			prev = bins[i];								\n"
	"			newb.wzy	+=	mul	( bins[i+1].zyx, mat1);	\n"
	"			bins[i] = newb;							\n"
	"		}												\n"
	"	}";


	//find the maximum voting
	out<<"\n"
	"	float4 maxh; float2 maxh2; float4 maxh4 = bins[0];				\n"
	"	for (int i=1; i<9; i++) maxh4 = max(maxh4, bins[i]);				\n"
	"	maxh2 = max(maxh4.xy, maxh4.zw); maxh = float4(max(maxh2.x, maxh2.y));";

	char *testpeak_code;
	char *savepeak_code;



	//save two/three/four orientations with the largest votings?

	//
	if(GlobalUtil::_MaxOrientation>1)
	{
		out<<"\n"
	"	float4 Orientations = float4(0, 0, 0, 0);				\n"
	"	float4 weights = float4(0,0,0,0);		";	
		
		testpeak_code = "\n"
	"		{test = bins[i]>hh;";

		//save the orientations in weight-decreasing order
		if(GlobalUtil::_MaxOrientation ==2)
		{
		savepeak_code = "\n"
	"		if(weight <=weights.g){}\n"
	"		else if(weight >weights.r)\n"
	"		{weights.rg = float2(weight, weights.r); Orientations.rg = float2(th, Orientations.r);}\n"
	"		else {weights.g = weight; Orientations.g = th;}";

		}else if(GlobalUtil::_MaxOrientation ==3)
		{
		savepeak_code = "\n"
	"		if(weight <=weights.b){}\n"
	"		else if(weight >weights.r)\n"
	"		{weights.rgb = float3(weight, weights.rg); Orientations.rgb = float3(th, Orientations.rg);}\n"
	"		else if(weight >weights.g)\n"
	"		{weights.gb = float2(weight, weights.g); Orientations.gb = float2(th, Orientations.g);}\n"
	"		else {weights.b = weight; Orientations.b = th;}";
		}else
		{
		savepeak_code = "\n"
	"		if(weight <=weights.a){}\n"
	"		else if(weight >weights.r)\n"
	"		{weights = float4(weight, weights.rgb); Orientations = float4(th, Orientations.rgb);}\n"
	"		else if(weight >weights.g)\n"
	"		{weights.gba = float3(weight, weights.gb); Orientations.gba = float3(th, Orientations.gb);}\n"
	"		else if(weight >weights.b)\n"
	"		{weights.ba = float2(weight, weights.b); Orientations.ba = float2(th, Orientations.b);}\n"
	"		else {weights.a = weight; Orientations.a = th;}";
		}

	}else
	{
		out<<"\n"
	"	float Orientations = 0;				";
		testpeak_code ="\n"
	"		if(npeaks==0){								\n"
	"		test = (bins[i] >= maxh)	;";
		savepeak_code="\n"
	"				npeaks++;								\n"
	"				Orientations = th.x;";

	}

	//find the peaks
	//the following loop will be unrolled

	out<<"\n"
	"	const float4 hh = maxh * ORIENTATION_THRESHOLD;	bool4 test;	\n"
	"	bins[9] = bins[0];								\n"
	"	float npeaks = 0, k = 0;			\n"
	"	float prevb	= bins[8].w;						\n"
	"	for (int i = 0; i <9 ; i++)						\n"
	"	{"
		<<testpeak_code<<"									\n"
	"		if( any ( test.xy || test.zw) )							\n"
	"		{											\n"
	"			if(test.r && bins[i].x > prevb && bins[i].x > bins[i].y )	\n"
	"			{											\n"
	"			    float	di = 0.5 * (bins[i].y-prevb) / (bins[i].x *2.0 -bins[i].y -prevb) ; \n"
	"				float	th = (k+di+0.5);	float weight = bins[i].x;"
					<<savepeak_code<<"\n"
	"			}\n"
	"			else if(test.g && all( bins[i].yy > bins[i].xz) )	\n"
	"			{											\n"
	"			    float	di = 0.5 * (bins[i].z-bins[i].x) / (bins[i].y * 2.0 - bins[i].z - bins[i].x) ; \n"
	"				float	th = (k+di+1.5);	float weight = bins[i].y;				"
					<<savepeak_code<<"	\n"
	"			}"
		<<"\n"
	"			if(test.b && all( bins[i].zz > bins[i].yw) )	\n"
	"			{											\n"
	"			    float	di = 0.5 * (bins[i].w-bins[i].y) / (bins[i].z * 2.0-bins[i].w-bins[i].y) ; \n"
	"				float	th = (k+di+2.5);	float weight = bins[i].z;				"
					<<savepeak_code<<"	\n"
	"			}\n"
	"			else if(test.a && bins[i].w > bins[i].z && bins[i].w > bins[i+1].x )	\n"
	"			{											\n"
	"			    float	di = 0.5 * (bins[i+1].x-bins[i].z) / (bins[i].w * 2.0- bins[i+1].x-bins[i].z) ; \n"
	"				float	th = (k+di+3.5);	float weight = bins[i].w;				"
					<<savepeak_code<<"	\n"
	"			}\n"
	"		}}\n"
	"		k = k + 4.0;						\n"
	"		prevb = bins[i].w;\n"
	"	}";
	//WRITE output
	if(GlobalUtil::_OrientationPack2)
	{
		//pack two orientations in one float
	out<<"\n"
	"	 if(orientation_mode){\n"
	"		Orientations.xy = frac(Orientations.xy / 36.0 + 1.0);\n"
	"		if(weights.x <= 0) Orientations.x = 1.0;\n"
	"		if(weights.y <= 0) Orientations.y = 1.0;\n"
	"		float packed_orientation = pack_2ushort(Orientations.xy); \n"
	"		FeatureData = float4(pos, packed_orientation, sigma);\n"
	"	}else{\n"
	"		FeatureData = float4(pos, radians((Orientations.x)*10.0), sigma);\n"
	"	}\n";		
	}else if(GlobalUtil::_MaxOrientation>1)
	{
	out<<"\n"
	"	 if(orientation_mode){\n"
	"	 npeaks = dot(float4(1,1,"
			<<(GlobalUtil::_MaxOrientation>2 ? 1 : 0)<<","
			<<(GlobalUtil::_MaxOrientation >3? 1 : 0)<<"), float4(weights>hh));\n"
	"		OrientationData = radians((Orientations )*10.0);\n"
	"		FeatureData = float4(pos, npeaks, sigma);\n"
	"	}else{\n"
	"		FeatureData = float4(pos, radians((Orientations.x)*10.0), sigma);\n"
	"	}\n";
	}else
	{
	out<<"\n"
	"	 FeatureData = float4(pos, radians((Orientations.x)*10.0), sigma);";
	}
	//end
	out<<"\n"
	"}\n"<<'\0';


}

void ShaderBagCG::SetSimpleOrientationInput(int oTex, float sigma, float sigma_step)
{
	cgGLSetTextureParameter(_param_orientation_gtex, oTex);
	cgGLEnableTextureParameter(_param_orientation_gtex);
	cgGLSetParameter1f(_param_orientation_size, sigma);
}

void ShaderBagCG::SetFeatureOrientationParam(int gtex, int width, int height, float sigma, int stex, float step)
{
	///
	cgGLSetTextureParameter(_param_orientation_gtex, gtex);	
	cgGLEnableTextureParameter(_param_orientation_gtex);

	if((GlobalUtil::_SubpixelLocalization || GlobalUtil::_KeepExtremumSign)&& stex)
	{
		//specify texutre for subpixel subscale localization
		cgGLSetTextureParameter(_param_orientation_stex, stex);
		cgGLEnableTextureParameter(_param_orientation_stex);
	}

	float size[4];
	size[0] = (float)width;
	size[1] = (float)height;
	size[2] = sigma;
	size[3] = step;
	cgGLSetParameter4fv(_param_orientation_size, size);

}

void ShaderBagCG::SetFeatureDescirptorParam(int gtex, int otex, float dwidth, float fwidth,  float width, float height, float sigma)
{
	///
	cgGLSetTextureParameter(_param_descriptor_gtex, gtex);	
	cgGLEnableTextureParameter(_param_descriptor_gtex);

	float dsize[4] ={dwidth, 1.0f/dwidth, fwidth, 1.0f/fwidth};
	cgGLSetParameter4fv(_param_descriptor_dsize, dsize);
	float size[3];
	size[0] = width;
	size[1] = height;
	size[2] = GlobalUtil::_DescriptorWindowFactor;	
	cgGLSetParameter3fv(_param_descriptor_size, size);
}


///////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////PACKED VERSION?///////////////////////////////////

ShaderBagPKCG::ShaderBagPKCG()
{
	ProgramCG::InitContext();
}

void ShaderBagPKCG::UnloadProgram()
{

	cgGLUnbindProgram(ProgramCG::_FProfile);
	cgGLDisableProfile(ProgramCG::_FProfile);
}

void ShaderBagPKCG::LoadFixedShaders()
{
	ProgramCG * program;

	/*
	char *rgb2gray_packing_code =
		"void main(uniform samplerRECT rgbTex, in float4 TexCoord0 : TEXCOORD0, \n"
	"		in float4 TexCoord1 : TEXCOORD1, in float4 TexCoord2 : TEXCOORD2, \n"
	"		in float4 TexCoord3 : TEXCOORD3, out float4 FragData : COLOR0){\n"
	"		const float3 weight = vec3(0.299, 0.587, 0.114);\n"
	"		FragData.r = dot(weight, texRECT(rgbTex,TexCoord0.st ).rgb);\n"
	"		FragData.g = dot(weight, texRECT(rgbTex,TexCoord1.st ).rgb);\n"
	"		FragData.b = dot(weight, texRECT(rgbTex,TexCoord2.st ).rgb);\n"
	"		FragData.a = dot(weight, texRECT(rgbTex,TexCoord3.st ).rgb);}";//
	s_gray = new ProgramCG( rgb2gray_packing_code);
	*/

	s_gray = new ProgramCG( 
	"void main(float4 TexCoord0 : TEXCOORD0, out float4 FragColor : COLOR0, uniform samplerRECT tex){\n"
	"float intensity = dot(float3(0.299, 0.587, 0.114), texRECT(tex,TexCoord0.xy ).rgb);\n"
	"FragColor= float4(intensity, intensity, intensity, 1.0);}"	);


	s_sampling = new ProgramCG(
	"void main(uniform samplerRECT tex, in float4 TexCoord0 : TEXCOORD0, \n"
	"		in float4 TexCoord1 : TEXCOORD1, in float4 TexCoord2 : TEXCOORD2, \n"
	"		in float4 TexCoord3 : TEXCOORD3, out float4 FragData : COLOR0 ){\n"
	"		FragData= float4(	texRECT(tex,TexCoord0.st ).r,texRECT(tex,TexCoord1.st ).r,\n"
	"							texRECT(tex,TexCoord2.st ).r,texRECT(tex,TexCoord3.st ).r);}"	);


	s_margin_copy = program = new ProgramCG(
	"void main(in float4 texCoord0: TEXCOORD0, out float4 FragColor: COLOR0, \n"
	"uniform samplerRECT tex, uniform float4 truncate){\n"
	"float4 cc = texRECT(tex, min(texCoord0.xy, truncate.xy)); \n"
	"bool2 ob = texCoord0.xy < truncate.xy;\n"
	"if(ob.y) { FragColor = (truncate.z ==0 ? cc.rrbb : cc.ggaa); } \n"
	"else if(ob.x) {FragColor = (truncate.w <1.5 ? cc.rgrg : cc.baba);} \n"
	"else {	float4 weights = float4(float4(0, 1, 2, 3) == truncate.w);\n"
	"float v = dot(weights, cc); FragColor = v.xxxx;}}");

	_param_margin_copy_truncate = cgGetNamedParameter(*program, "truncate");


	s_zero_pass = new ProgramCG("void main(out float4 FragColor : COLOR0){FragColor = 0;}");

	s_grad_pass = program = new ProgramCG(
	"void main (\n"
	"float4 TexCC : TEXCOORD0, float4 TexLC : TEXCOORD1,\n"
	"float4 TexRC : TEXCOORD2, float4 TexCD : TEXCOORD3, float4 TexCU : TEXCOORD4,\n"
	"out float4 FragData0 : COLOR0, out float4 FragData1 : COLOR1, \n"
	"out float4 FragData2 : COLOR2, uniform samplerRECT tex, uniform samplerRECT texp)\n"
	"{\n"
	"	float4 v1, v2, gg;\n"
	"	float4 cc = texRECT(tex, TexCC.xy);\n"
	"	float4 cp = texRECT(texp, TexCC.xy);\n"
	"	FragData0 = cc - cp; \n"
	"	float4 cl = texRECT(tex, TexLC.xy);	float4 cr = texRECT(tex, TexRC.xy);\n"
	"	float4 cd = texRECT(tex, TexCD.xy); float4 cu = texRECT(tex, TexCU.xy);\n"
	"	float4 dx = (float4(cr.rb, cc.ga) - float4(cc.rb, cl.ga)).zxwy;\n"
	"	float4 dy = (float4(cu.rg, cc.ba) - float4(cc.rg, cd.ba)).zwxy;\n"
	"	FragData1 = 0.5 * sqrt(dx*dx + dy * dy);\n"
	"	FragData2 = FragData1 > 0?  atan2(dy, dx) : float4(0);\n"
	"}\n\0");

	_param_grad_pass_texp = cgGetNamedParameter(*program, "texp");


	s_dog_pass = program = new ProgramCG(
	"void main (float4 TexCC : TEXCOORD0, out float4 FragData0 : COLOR0, \n"
	"	uniform samplerRECT tex, uniform samplerRECT texp)\n"
	"{\n"
	"	float4 cc = texRECT(tex, TexCC.xy);\n"
	"	float4 cp = texRECT(texp, TexCC.xy);\n"
	"	FragData0 = cc - cp; \n"
	"}\n\0");

	////
	if(GlobalUtil::_SupportFP40)
	{
		LoadOrientationShader();
		if(GlobalUtil::_DescriptorPPT) LoadDescriptorShader();
	}else
	{
		s_orientation = program =  new ProgramCG(
		"void main(out float4 FragColor : COLOR0, \n"
	"	uniform samplerRECT fTex, uniform samplerRECT oTex, \n"
	"	uniform float2 size, \n"
	"	in float2 tpos : TEXCOORD0){\n"
	"	float4 cc = texRECT(fTex, tpos);\n"
	"	float2 co = cc.xy * 0.5; \n"
	"	float4 oo = texRECT(oTex, co);\n"
	"	bool2 bo = frac(co) < 0.5; \n"
	"	float o = bo.y? (bo.x? oo.r : oo.g) : (bo.x? oo.b : oo.a); \n"
	"	FragColor = float4(cc.rg, o, size.x * pow(size.y, cc.a));}");  
		_param_orientation_gtex= cgGetNamedParameter(*program, "oTex");
		_param_orientation_size= cgGetNamedParameter(*program, "size");

		GlobalUtil::_FullSupported = 0;
		GlobalUtil::_MaxOrientation = 0;
		GlobalUtil::_DescriptorPPT = 0;
		std::cerr<<"Orientation simplified on this hardware"<<endl;
		std::cerr<<"Descriptor ignored on this hardware"<<endl;
	}
}

void ShaderBagPKCG::LoadDisplayShaders()
{
	ProgramCG * program;

	s_copy_key = new ProgramCG(
	"void main(in float4 TexCoord0 : TEXCOORD0, out float4 FragColor : COLOR0, uniform samplerRECT tex){\n"
	"FragColor.rg= texRECT(tex, TexCoord0.xy).rg; FragColor.ba = float2(0,1);	}");

	//shader used to write a vertex buffer object
	//which is used to draw the quads of each feature
	s_vertex_list = program = new ProgramCG(
	"void main(in float4 TexCoord0: TEXCOORD0,\n"
	"uniform float4 sizes, \n"
	"uniform samplerRECT tex, \n"
	"out float4 FragColor: COLOR0){\n"
	"float fwidth = sizes.y; \n"
	"float twidth = sizes.z; \n"
	"float rwidth = sizes.w; \n"
	"float index = 0.1*(fwidth*floor(TexCoord0.y) + TexCoord0.x);\n"
	"float px = fmod(index, twidth);\n"
	"float2 tpos= floor(float2(px, index*rwidth))+0.5;\n"
	"float4 cc = texRECT(tex, tpos );\n"
	"float size = 3.0f * cc.a;// sizes.x;// \n"
	"FragColor.zw = float2(0.0, 1.0);\n"
	"if(any(cc.xy <=0)) {FragColor.xy = cc.xy;}else \n"
	"{\n"
	"	float type = frac(px);\n"
	"	float2 dxy; float s, c;\n"
	"	dxy.x = type < 0.1 ? 0 : ((type <0.5 || type > 0.9)? size : -size);\n"
	"	dxy.y = type < 0.2 ? 0 : ((type < 0.3 || type > 0.7 )? -size :size); \n"
	"	sincos(cc.b, s, c);\n"
	"	FragColor.x = cc.x + c*dxy.x-s*dxy.y;\n"
	"	FragColor.y = cc.y + c*dxy.y+s*dxy.x;}\n"
	"}\n\0");
	/*FragColor = float4(tpos, 0.0, 1.0);}\n\0");*/

	_param_genvbo_size = cgGetNamedParameter(*program, "sizes");

	s_display_gaussian = new ProgramCG(
		"void main(uniform samplerRECT tex, in float4 TexCoord0:TEXCOORD0, out float4 FragData: COLOR0 ){\n"
		"float4 pc = texRECT(tex, TexCoord0.xy);	 bool2 ff = (frac(TexCoord0.xy) < 0.5);\n"
    "float v = ff.y?(ff.x? pc.r : pc.g):(ff.x?pc.b:pc.a); FragData = float4(v.xxx, 1.0);}");

	s_display_dog =  new ProgramCG(
	"void main(in float4 TexCoord0 : TEXCOORD0, out float4 FragColor : COLOR0, uniform samplerRECT tex){\n"
	"float4 pc = texRECT(tex, TexCoord0.xy); bool2 ff = (frac(TexCoord0.xy) < 0.5);\n"
	"float v = ff.y ?(ff.x ? pc.r : pc.g):(ff.x ? pc.b : pc.a);float g = (0.5+20.0*v);\n"
	"FragColor = float4(g, g, g, 1.0);}" );


	s_display_grad = new ProgramCG(
	"void main(in float4 TexCoord0 : TEXCOORD0, out float4 FragColor : COLOR0, uniform samplerRECT tex){\n"
	"float4 pc = texRECT(tex, TexCoord0.xy); bool2 ff = (frac(TexCoord0.xy) < 0.5);\n"
	"float v = ff.y ?(ff.x ? pc.r : pc.g):(ff.x ? pc.b : pc.a); FragColor = float4(5.0 *v.xxx, 1.0); }");

	s_display_keys= new ProgramCG(
	"void main(in float4 TexCoord0 : TEXCOORD0, out float4 FragColor : COLOR0, uniform samplerRECT tex){\n"
	"float4 oc = texRECT(tex, TexCoord0.xy); \n"
	"float4 cc = float4(abs(oc.r) == float4(1.0, 2.0, 3.0, 4.0));\n"
	"bool2 ff = (frac(TexCoord0.xy) < 0.5);\n"
	"float v = ff.y ?(ff.x ? cc.r : cc.g):(ff.x ? cc.b : cc.a);\n"
	"if(oc.r == 0) discard;\n"
	"else if(oc.r > 0) FragColor = float4(1.0, 0, 0,1.0); \n"
	"else FragColor = float4(0.0,1.0,0.0,1.0); }" );		
}

void ShaderBagPKCG::LoadGenListShader(int ndoglev, int nlev)
{

	//the V2 algorithms are only slightly faster, but way more complicated
	//LoadGenListShaderV2(ndoglev, nlev); return; 
	ProgramCG * program;

	s_genlist_init_tight = new ProgramCG(
	"void main (uniform samplerRECT tex, in float4 TexCoord0 : TEXCOORD0,\n"
	"in float4 TexCoord1 : TEXCOORD1, in float4 TexCoord2 : TEXCOORD2, \n"
	"in float4 TexCoord3 : TEXCOORD3, out float4 FragColor : COLOR0)\n"
	"{\n"
	"	float4 data = float4(	texRECT(tex, TexCoord0.xy).r,\n"
	"							texRECT(tex, TexCoord1.xy).r,\n"
	"							texRECT(tex, TexCoord2.xy).r,\n"
	"							texRECT(tex, TexCoord3.xy).r);\n"
	"	FragColor = float4(data != 0);\n"
	"}");

	s_genlist_init_ex = program = new ProgramCG(
	"void main (uniform float4 bbox, uniform samplerRECT tex, \n"
	"in float4 TexCoord0 : TEXCOORD0, in float4 TexCoord1 : TEXCOORD1, \n"
	"in float4 TexCoord2 : TEXCOORD2, in float4 TexCoord3 : TEXCOORD3,\n"
	"out float4 FragColor : COLOR0)\n"
	"{\n"
	"	bool4 helper1 = abs(texRECT(tex, TexCoord0.xy).r)== float4(1.0, 2.0, 3.0, 4.0); \n"
	"	bool4 helper2 = abs(texRECT(tex, TexCoord1.xy).r)== float4(1.0, 2.0, 3.0, 4.0);\n"
	"	bool4 helper3 = abs(texRECT(tex, TexCoord2.xy).r)== float4(1.0, 2.0, 3.0, 4.0);\n"
	"	bool4 helper4 = abs(texRECT(tex, TexCoord3.xy).r)== float4(1.0, 2.0, 3.0, 4.0);\n"
	"	bool4 bx1 = TexCoord0.xxyy < bbox; \n"
	"	bool4 bx4 = TexCoord3.xxyy < bbox; \n"
	"	bool4 bx2 = bool4(bx4.xy, bx1.zw); \n"
	"	bool4 bx3 = bool4(bx1.xy, bx4.zw);\n"
	"	helper1 = (bx1.xyxy && bx1.zzww && helper1);\n"
	"	helper2 = (bx2.xyxy && bx2.zzww && helper2);\n"
	"	helper3 = (bx3.xyxy && bx3.zzww && helper3);\n"
	"	helper4 = (bx4.xyxy && bx4.zzww && helper4);\n"
	"	FragColor.r = any(helper1.xy || helper1.zw);	\n"
	"	FragColor.g = any(helper2.xy || helper2.zw);	\n"
	"	FragColor.b = any(helper3.xy || helper3.zw);	\n"
	"	FragColor.a = any(helper4.xy || helper4.zw);	\n"
	"}");
	_param_genlist_init_bbox = cgGetNamedParameter( *program, "bbox");

	s_genlist_end = program = new ProgramCG(
		GlobalUtil::_KeepExtremumSign == 0 ? 
	
	"void main(	uniform samplerRECT tex, uniform samplerRECT ktex,\n"
	"			in float4 tpos : TEXCOORD0,	out float4 FragColor : COLOR0)\n"
	"{\n"
	"	float4 tc = texRECT( tex, tpos.xy);\n"
	"	float2 pos = tc.rg; float index = tc.b;\n"
	"	float4 tk = texRECT( ktex, pos); \n"
	"	float4 keys = float4(abs(tk.x) == float4(1.0, 2.0, 3.0, 4.0)); \n"
	"	float2 opos; \n"
	"	opos.x = dot(keys, float4(-0.5, 0.5, -0.5, 0.5));\n"
	"	opos.y = dot(keys, float4(-0.5, -0.5, 0.5, 0.5));\n"
	"	FragColor = float4(opos + pos + pos + tk.yz, 1.0, tk.w);\n"
	"}" : 
	
	"void main(	uniform samplerRECT tex, uniform samplerRECT ktex,\n"
	"			in float4 tpos : TEXCOORD0,	out float4 FragColor : COLOR0)\n"
	"{\n"
	"	float4 tc = texRECT( tex, tpos.xy);\n"
	"	float2 pos = tc.rg; float index = tc.b;\n"
	"	float4 tk = texRECT( ktex, pos); \n"
	"	float4 keys = float4(abs(tk.x) == float4(1.0, 2.0, 3.0, 4.0)); \n"
	"	float2 opos; \n"
	"	opos.x = dot(keys, float4(-0.5, 0.5, -0.5, 0.5));\n"
	"	opos.y = dot(keys, float4(-0.5, -0.5, 0.5, 0.5));\n"
	"	FragColor = float4(opos + pos + pos + tk.yz, sign(tk.x), tk.w);\n"
	"}"	
	);
	_param_genlist_end_ktex = cgGetNamedParameter(*program, "ktex");

	//reduction ...
	s_genlist_histo = new ProgramCG(
	"void main (uniform samplerRECT tex, in float2 TexCoord0 : TEXCOORD0,\n"
	"in float2 TexCoord1 : TEXCOORD1, in float2 TexCoord2 : TEXCOORD2, \n"
	"in float2 TexCoord3 : TEXCOORD3, out float4 FragColor : COLOR0)\n"
	"{\n"
	"	float4 helper; float4 helper2; \n"
	"	helper = texRECT(tex, TexCoord0); helper2.xy = helper.xy + helper.zw; \n"
	"	helper = texRECT(tex, TexCoord1); helper2.zw = helper.xy + helper.zw; \n"
	"	FragColor.rg = helper2.xz + helper2.yw;\n"
	"	helper = texRECT(tex, TexCoord2); helper2.xy = helper.xy + helper.zw; \n"
	"	helper = texRECT(tex, TexCoord3); helper2.zw = helper.xy + helper.zw; \n"
	"	FragColor.ba= helper2.xz+helper2.yw;\n"
	"}");


	//read of the first part, which generates tex coordinates 

	s_genlist_start= program =  ShaderBagCG::LoadGenListStepShader(1, 1);
	_param_ftex_width= cgGetNamedParameter(*program, "width");
	_param_genlist_start_tex0 = cgGetNamedParameter(*program, "tex0");
	//stepping
	s_genlist_step = program = ShaderBagCG::LoadGenListStepShader(0, 1);
	_param_genlist_step_tex= cgGetNamedParameter(*program, "tex");
	_param_genlist_step_tex0= cgGetNamedParameter(*program, "tex0");


}



void ShaderBagPKCG::LoadGenListShaderV2(int ndoglev, int nlev)
{
	ProgramCG * program;

	s_genlist_init_tight = new ProgramCG(
	"void main (uniform samplerRECT tex, in float4 TexCoord0 : TEXCOORD0,\n"
	"in float4 TexCoord1 : TEXCOORD1, in float4 TexCoord2 : TEXCOORD2, \n"
	"in float4 TexCoord3 : TEXCOORD3, out float4 FragColor : COLOR0)\n"
	"{\n"
	"	float4 data1 = texRECT(tex, TexCoord0.xy);\n"
	"	float4 data2 = texRECT(tex, TexCoord1.xy);\n"
	"	float4 data3 = texRECT(tex, TexCoord2.xy);\n"
	"	float4 data4 = texRECT(tex, TexCoord3.xy);\n"
	"	bool4 helper1 = (abs(data1.r), float4(1.0, 2.0, 3.0, 4.0)); \n"
	"	bool4 helper2 = (abs(data2.r), float4(1.0, 2.0, 3.0, 4.0));\n"
	"	bool4 helper3 = (abs(data3.r), float4(1.0, 2.0, 3.0, 4.0));\n"
	"	bool4 helper4 = (abs(data4.r), float4(1.0, 2.0, 3.0, 4.0));\n"
	"	FragColor.r = any(helper1.xy || helper1.zw);	\n"
	"	FragColor.g = any(helper2.xy || helper2.zw);	\n"
	"	FragColor.b = any(helper3.xy || helper3.zw);	\n"
	"	FragColor.a = any(helper4.xy || helper4.zw);	\n"
	"	if(dot(FragColor, float4(1,1,1,1)) == 1) \n"
	"	{\n"
	"		//use a special method if there is only one in the 16, \n"
	"		float4 data, helper; float2 pos, opos; \n"
	"		if(FragColor.r){ \n"
	"			data = data1; helper = helper1; pos = TexCoord0.xy;\n"
	"		}else if(FragColor.g){\n"
	"			data = data2; helper = helper2; pos = TexCoord1.xy;\n"
	"		}else if(FragColor.b){\n"
	"			data = data3; helper = helper3; pos = TexCoord2.xy;\n"
	"		}else{\n"
	"			data = data4; helper = helper4; pos = TexCoord3.xy;\n"
	"		}\n"
	"		opos.x = dot(helper, float4(-0.5, 0.5, -0.5, 0.5));\n"
	"		opos.y = dot(helper, float4(-0.5, -0.5, 0.5, 0.5));\n"
	"		FragColor = float4( pos + pos + opos + data.yz, -1, data.w); \n"
	"	}\n"
	"}");

	s_genlist_init_ex = program = new ProgramCG(
	"void main (uniform float4 bbox, uniform samplerRECT tex, \n"
	"in float4 TexCoord0 : TEXCOORD0, in float4 TexCoord1 : TEXCOORD1, \n"
	"in float4 TexCoord2 : TEXCOORD2, in float4 TexCoord3 : TEXCOORD3,\n"
	"out float4 FragColor : COLOR0)\n"
	"{\n"
	"	float4 data1 = texRECT(tex, TexCoord0.xy);\n"
	"	float4 data2 = texRECT(tex, TexCoord1.xy);\n"
	"	float4 data3 = texRECT(tex, TexCoord2.xy);\n"
	"	float4 data4 = texRECT(tex, TexCoord3.xy);\n"
	"	bool4 helper1 = (abs(data1.r), float4(1.0, 2.0, 3.0, 4.0)); \n"
	"	bool4 helper2 = (abs(data2.r), float4(1.0, 2.0, 3.0, 4.0));\n"
	"	bool4 helper3 = (abs(data3.r), float4(1.0, 2.0, 3.0, 4.0));\n"
	"	bool4 helper4 = (abs(data4.r), float4(1.0, 2.0, 3.0, 4.0));\n"
	"	bool4 bx1 = TexCoord0.xxyy < bbox; \n"
	"	bool4 bx4 = TexCoord3.xxyy < bbox; \n"
	"	bool4 bx2 = bool4(bx4.xy, bx1.zw); \n"
	"	bool4 bx3 = bool4(bx1.xy, bx4.zw);\n"
	"	helper1 = bx1.xyxy && bx1.zzww && helper1; \n"
	"	helper2 = bx2.xyxy && bx2.zzww && helper2; \n"
	"	helper3 = bx3.xyxy && bx3.zzww && helper3; \n"
	"	helper4 = bx4.xyxy && bx4.zzww && helper4; \n"
	"	FragColor.r = any(helper1.xy || helper1.zw);	\n"
	"	FragColor.g = any(helper2.xy || helper2.zw);	\n"
	"	FragColor.b = any(helper3.xy || helper3.zw);	\n"
	"	FragColor.a = any(helper4.xy || helper4.zw);	\n"
	"	if(dot(FragColor, float4(1,1,1,1)) == 1) \n"
	"	{\n"
	"		//use a special method if there is only one in the 16, \n"
	"		float4 data, helper; bool4 bhelper; float2 pos, opos; \n"
	"		if(FragColor.r){ \n"
	"			data = data1; bhelper = helper1; pos = TexCoord0.xy;\n"
	"		}else if(FragColor.g){\n"
	"			data = data2; bhelper = helper2; pos = TexCoord1.xy;\n"
	"		}else if(FragColor.b){\n"
	"			data = data3; bhelper = helper3; pos = TexCoord2.xy;\n"
	"		}else{\n"
	"			data = data4; bhelper = helper4; pos = TexCoord3.xy;\n"
	"		}\n"
	"		helper = float4(bhelper); \n"
	"		opos.x = dot(helper, float4(-0.5, 0.5, -0.5, 0.5));\n"
	"		opos.y = dot(helper, float4(-0.5, -0.5, 0.5, 0.5));\n"
	"		FragColor = float4(pos + pos + opos + data.yz, -1, data.w); \n"
	"	}\n"
	"}");
	_param_genlist_init_bbox = cgGetNamedParameter( *program, "bbox");

	s_genlist_end = program = new ProgramCG(
	
	"void main(	uniform samplerRECT tex, uniform samplerRECT ktex,\n"
	"			in float4 tpos : TEXCOORD0,	out float4 FragColor : COLOR0)\n"
	"{\n"
	"	float4 tc = texRECT( tex, tpos.xy);\n"
	"	float2 pos = tc.rg; float index = tc.b;\n"
	"	if(index == -1)\n"
	"	{\n"
	"		FragColor = float4(tc.xy, 0, tc.w);\n"
	"	}else\n"
	"	{\n"
	"		float4 tk = texRECT( ktex, pos); \n"
	"		float4 keys = float4(abs(tk.r) == float4(1.0, 2.0, 3.0, 4.0)); \n"
	"		float2 opos; \n"
	"		opos.x = dot(keys, float4(-0.5, 0.5, -0.5, 0.5));\n"
	"		opos.y = dot(keys, float4(-0.5, -0.5, 0.5, 0.5));\n"
	"		FragColor = float4(opos + pos + pos + tk.yz, 0, tk.w);\n"
	"	}\n"
	"}");
	_param_genlist_end_ktex = cgGetNamedParameter(*program, "ktex");

	//reduction ...
	s_genlist_histo = new ProgramCG(
	"void main (uniform samplerRECT tex, in float2 TexCoord0 : TEXCOORD0,\n"
	"in float2 TexCoord1 : TEXCOORD1, in float2 TexCoord2 : TEXCOORD2, \n"
	"in float2 TexCoord3 : TEXCOORD3, out float4 FragColor : COLOR0)\n"
	"{\n"
	"	float4 helper[4]; float4 helper2; \n"
	"	helper[0] = texRECT(tex, TexCoord0); helper2.xy = helper[0].xy + helper[0].zw; \n"
	"	helper[1] = texRECT(tex, TexCoord1); helper2.zw = helper[1].xy + helper[1].zw; \n"
	"	FragColor.rg = helper2.xz + helper2.yw;\n"
	"	helper[2] = texRECT(tex, TexCoord2); helper2.xy = helper[2].xy + helper[2].zw; \n"
	"	helper[3] = texRECT(tex, TexCoord3); helper2.zw = helper[3].xy + helper[3].zw; \n"
	"	FragColor.ba= helper2.xz+helper2.yw;\n"
	"	bool4 keyt = float4(helper[0].z, helper[1].z, helper[2].z, helper[3].z) == -1.0; \n"
	"	float keyc = dot(float4(keyt), float4(1,1,1,1)); \n"
	"	if(keyc == 1.0 && dot(FragColor, float4(1,1,1,1)) == -1.0) \n"
	"	{\n"
	"		if(keyt.x) FragColor = helper[0];\n"
	"		else if(keyt.y) FragColor = helper[1]; \n"
	"		else if(keyt.z) FragColor = helper[2]; \n"
	"		else FragColor = helper[3]; \n"
	"	}else\n"
	"	{\n"
	"		FragColor = keyt? float4(1,1,1,1) : FragColor;\n"
	"	}\n"
	"}");

	//read of the first part, which generates tex coordinates 

	s_genlist_start= program =  ShaderBagCG::LoadGenListStepShaderV2(1, 1);
	_param_ftex_width= cgGetNamedParameter(*program, "width");
	_param_genlist_start_tex0 = cgGetNamedParameter(*program, "tex0");
	//stepping
	s_genlist_step = program = ShaderBagCG::LoadGenListStepShaderV2(0, 1);
	_param_genlist_step_tex= cgGetNamedParameter(*program, "tex");
	_param_genlist_step_tex0= cgGetNamedParameter(*program, "tex0");


}



ProgramCG* ShaderBagCG::LoadGenListStepShaderV2(int start, int step)
{
	int i;
	char buffer[10240];
	//char chanels[5] = "rgba";
	ostrstream out(buffer, 10240);
	out<<"void main(out float4 FragColor : COLOR0, \n";

	for(i = 0; i < step; i++) out<<"uniform samplerRECT tex"<<i<<",\n";

	if(start)
	{
		out<<"uniform float width, \nin float2 tpos : TEXCOORD0){\n";
		out<<"float  index = floor(tpos.y) * width + floor(tpos.x);\n";
		out<<"float2 pos = float2(0.5, 0.5);\n";
	}else
	{
		out<<"uniform samplerRECT tex, in float2 tpos: TEXCOORD0 ){\n";
		out<<"float4 tc = texRECT( tex, tpos);\n";
		out<<"float2 pos = tc.rg; float index = tc.b;\n";
		out<<"if(index==-1) {FragColor = tc; return;}\n";
	}
	out<<"float2 sum; 	float4 cc;\n";



	if(step>0)
	{
		out<<"float2 cpos = float2(-0.5, 0.5);\t float2 opos;\n";
		for(i = 0; i < step; i++)
		{

			out<<"cc = texRECT(tex"<<i<<", pos);\n";
			out<<"if(cc.z == -1){FragColor = cc; return;}";
			out<<"sum.x = cc.r + cc.g;if (index < sum.x){ if(index < cc.r) opos = cpos.xx; else {opos = cpos.yx; index -= cc.r;}}\n";
			out<<"else {index -= sum.x; if(index < cc.b) opos = cpos.xy; else{opos = cpos.yy; index -= cc.b;}}";
			out<<"pos = (pos + pos + opos);\n";
		}
	}
	out<<"FragColor = float4(pos, index, 1);\n";
	out<<"}\n"<<'\0';
	return new ProgramCG(buffer);
}


void ShaderBagPKCG:: LoadKeypointShader(float threshold, float edge_threshold)
{
	//
	ProgramCG * program;
	char buffer[10240];
	float threshold0 = threshold* (GlobalUtil::_SubpixelLocalization?0.8f:1.0f);
	float threshold1 = threshold;
	float threshold2 = (edge_threshold+1)*(edge_threshold+1)/edge_threshold;
	ostrstream out(buffer, 10240);
	out<<setprecision(8);
	//tex(X)(Y)
	//X: (CLR) (CENTER 0, LEFT -1, RIGHT +1)  
	//Y: (CDU) (CENTER 0, DOWN -1, UP    +1) 
	out <<	"#define THRESHOLD0 " << threshold0 << "\n"
			"#define THRESHOLD1 " << threshold1 << "\n"
			"#define THRESHOLD2 " << threshold2 << "\n";

	out<<
	"void main (\n"
	"float4 TexCC : TEXCOORD0, float4 TexLC : TEXCOORD1,\n"
	"float4 TexRC : TEXCOORD2, float4 TexCD : TEXCOORD3, \n"
	"float4 TexCU : TEXCOORD4, float4 TexLD : TEXCOORD5, \n"
	"float4 TexLU : TEXCOORD6, float4 TexRD : TEXCOORD7,\n"
	"out float4 FragData0 : COLOR0, uniform samplerRECT tex, \n"
	"uniform samplerRECT texU, uniform samplerRECT texD)\n"
	"{\n"
	"	float2 TexRU = float2(TexRC.x, TexCU.y); \n"
	"	float4 ccc = texRECT(tex, TexCC.xy);\n"
	"	float4 clc = texRECT(tex, TexLC.xy);\n"
	"	float4 crc = texRECT(tex, TexRC.xy);\n"
	"	float4 ccd = texRECT(tex, TexCD.xy);\n"
	"	float4 ccu = texRECT(tex, TexCU.xy);\n"
	"	float4 cld = texRECT(tex, TexLD.xy);\n"
	"	float4 clu = texRECT(tex, TexLU.xy);\n"
	"	float4 crd = texRECT(tex, TexRD.xy);\n"
	"	float4 cru = texRECT(tex, TexRU.xy);\n"
	"	float4  cc = ccc;\n"
	"	float4  v1[4], v2[4];\n"
	"	v1[0] = float4(clc.g, ccc.g, ccd.b, ccc.b);\n"
	"	v1[1] = float4(ccc.r, crc.r, ccd.a, ccc.a);\n"
	"	v1[2] = float4(clc.a, ccc.a, ccc.r, ccu.r);\n"
	"	v1[3] = float4(ccc.b, crc.b, ccc.g, ccu.g);\n"
	"	v2[0] = float4(cld.a, clc.a, ccd.a, ccc.a);\n"
	"	v2[1] = float4(ccd.b, ccc.b, crd.b, crc.b);\n"
	"	v2[2] = float4(clc.g, clu.g, ccc.g, ccu.g);\n"
	"	v2[3] = float4(ccc.r, ccu.r, crc.r, cru.r);\n"

	//test against 8 neighbours
	//use variable to identify type of extremum
	//1.0 for local maximum and -1.0 for minimum
	<<
	"	float4 key ={0, 0, 0, 0}; \n"
	"	for(int i = 0; i < 4; i++)\n"
	"	{\n"
	"		bool4 test1 = cc[i] > max(v1[i], v2[i]), test2 = cc[i] < min(v1[i], v2[i]);\n"
	"		key[i] = cc[i] > THRESHOLD0 && all(test1.xy&&test1.zw)?1.0: 0.0;\n"
	"		key[i] = cc[i] < -THRESHOLD0 && all(test2.xy&&test2.zw)? -1.0: key[i];\n"
	"	}\n"
	"	if(TexCC.x < 1.0) {key.rb = 0;}\n"
	"	if(TexCC.y < 1.0) {key.rg = 0;}\n"
	"	FragData0 = float4(0.0);\n"
	"	if(all(key == 0.0)) return; \n";

	//do edge supression first.. 
	//vector v1 is < (-1, 0), (1, 0), (0,-1), (0, 1)>
	//vector v2 is < (-1,-1), (-1,1), (1,-1), (1, 1)>

	out<<
	"	float fxx[4], fyy[4], fxy[4], fx[4], fy[4];\n"
	"	for(int i = 0; i < 4; i++) \n"
	"	{\n"
	"		if(key[i] != 0)\n"
	"		{\n"
	"			float4 D2 = v1[i].xyzw - cc[i];\n"
	"			float2 D4 = v2[i].xw - v2[i].yz;\n"
	"			float2 D5 = 0.5*(v1[i].yw-v1[i].xz); \n"
	"			fx[i] = D5.x;\n"
	"			fy[i] = D5.y ;\n"
	"			fxx[i] = D2.x + D2.y;\n"
	"			fyy[i] = D2.z + D2.w;\n"
	"			fxy[i] = 0.25*(D4.x + D4.y);\n"
	"			float fxx_plus_fyy = fxx[i] + fyy[i];\n"
	"			float score_up = fxx_plus_fyy*fxx_plus_fyy; \n"
	"			float score_down = (fxx[i]*fyy[i] - fxy[i]*fxy[i]);\n"
	"			if( score_down <= 0 || score_up > THRESHOLD2 * score_down)key[i] = 0;\n"
	"		}\n"
	"	}\n"
	"	if(all(key == 0.0)) return; \n\n";

	////////////////////////////////////////////////
	//read 9 pixels of upper/lower level
	out<<
	"	float4  v4[4], v5[4], v6[4];\n"
	"	ccc = texRECT(texU, TexCC.xy);\n"
	"	clc = texRECT(texU, TexLC.xy);\n"
	"	crc = texRECT(texU, TexRC.xy);\n"
	"	ccd = texRECT(texU, TexCD.xy);\n"
	"	ccu = texRECT(texU, TexCU.xy);\n"
	"	cld = texRECT(texU, TexLD.xy);\n"
	"	clu = texRECT(texU, TexLU.xy);\n"
	"	crd = texRECT(texU, TexRD.xy);\n"
	"	cru = texRECT(texU, TexRU.xy);\n"
	"	float4  cu = ccc;\n"
	"	v4[0] = float4(clc.g, ccc.g, ccd.b, ccc.b);\n"
	"	v4[1] = float4(ccc.r, crc.r, ccd.a, ccc.a);\n"
	"	v4[2] = float4(clc.a, ccc.a, ccc.r, ccu.r);\n"
	"	v4[3] = float4(ccc.b, crc.b, ccc.g, ccu.g);\n"
	"	v6[0] = float4(cld.a, clc.a, ccd.a, ccc.a);\n"
	"	v6[1] = float4(ccd.b, ccc.b, crd.b, crc.b);\n"
	"	v6[2] = float4(clc.g, clu.g, ccc.g, ccu.g);\n"
	"	v6[3] = float4(ccc.r, ccu.r, crc.r, cru.r);\n"
	<<
	"	for(int i = 0; i < 4; i++)\n"
	"	{\n"
	"		if(key[i] == 1.0)\n"
	"		{\n"
	"			bool4 test = cc[i]< max(v4[i], v6[i]); \n"
	"			if(cc[i] < cu[i] || any(test.xy||test.zw))key[i] = 0.0; \n"
	"		}else if(key[i] == -1.0)\n"
	"		{\n"
	"			bool4 test = cc[i]> min( v4[i], v6[i]); \n"
	"			if(cc[i] > cu[i] || any(test.xy||test.zw))key[i] = 0.0; \n"
	"		}\n"
	"	}\n"
	"	if(all(key == 0.0)) return; \n"
	<<
	"	ccc = texRECT(texD, TexCC.xy);\n"
	"	clc = texRECT(texD, TexLC.xy);\n"
	"	crc = texRECT(texD, TexRC.xy);\n"
	"	ccd = texRECT(texD, TexCD.xy);\n"
	"	ccu = texRECT(texD, TexCU.xy);\n"
	"	cld = texRECT(texD, TexLD.xy);\n"
	"	clu = texRECT(texD, TexLU.xy);\n"
	"	crd = texRECT(texD, TexRD.xy);\n"
	"	cru = texRECT(texD, TexRU.xy);\n"
	"	float4  cd = ccc;\n"
	"	v5[0] = float4(clc.g, ccc.g, ccd.b, ccc.b);\n"
	"	v5[1] = float4(ccc.r, crc.r, ccd.a, ccc.a);\n"
	"	v5[2] = float4(clc.a, ccc.a, ccc.r, ccu.r);\n"
	"	v5[3] = float4(ccc.b, crc.b, ccc.g, ccu.g);\n"
	"	v6[0] = float4(cld.a, clc.a, ccd.a, ccc.a);\n"
	"	v6[1] = float4(ccd.b, ccc.b, crd.b, crc.b);\n"
	"	v6[2] = float4(clc.g, clu.g, ccc.g, ccu.g);\n"
	"	v6[3] = float4(ccc.r, ccu.r, crc.r, cru.r);\n"
	<<
	"	for(int i = 0; i < 4; i++)\n"
	"	{\n"
	"		if(key[i] == 1.0)\n"
	"		{\n"
	"			bool4 test = cc[i]< max(v5[i], v6[i]);\n"
	"			if(cc[i] < cd[i] || any(test.xy||test.zw))key[i] = 0.0; \n"
	"		}else if(key[i] == -1.0)\n"
	"		{\n"
	"			bool4 test = cc[i]>min(v5[i],v6[i]);\n"
	"			if(cc[i] > cd[i] || any(test.xy||test.zw))key[i] = 0.0; \n"
	"		}\n"
	"	}\n"
	"	float keysum = dot(abs(key), float4(1, 1, 1, 1)) ;\n"
	"	//assume there is only one keypoint in the four. \n"
	"	if(keysum != 1.0) return;	\n";

	//////////////////////////////////////////////////////////////////////
	if(GlobalUtil::_SubpixelLocalization)

	out <<
	"	float3 offset = float3(0, 0, 0); \n"
	"	/*The unrolled follwing loop is faster than a dynamic indexing version.*/\n"
	"	for(int idx = 1; idx < 4; idx++)\n"
	"	{\n"
	"		if(key[idx] != 0) \n"
	"		{\n"
	"			cu[0] = cu[idx];	cd[0] = cd[idx];	cc[0] = cc[idx];	\n"
	"			v4[0] = v4[idx];	v5[0] = v5[idx];						\n"
	"			fxy[0] = fxy[idx];	fxx[0] = fxx[idx];	fyy[0] = fyy[idx];	\n"
	"			fx[0] = fx[idx];	fy[0] = fy[idx];						\n"
	"		}\n"
	"	}\n"
	<<
		
	"	float fs = 0.5*( cu[0] - cd[0] );				\n"
	"	float fss = cu[0] + cd[0] - cc[0] - cc[0];\n"
	"	float fxs = 0.25 * (v4[0].y + v5[0].x - v4[0].x - v5[0].y);\n"
	"	float fys = 0.25 * (v4[0].w + v5[0].z - v4[0].z - v5[0].w);\n"
	"	float4 A0, A1, A2 ;			\n"
	"	A0 = float4(fxx[0], fxy[0], fxs, -fx[0]);	\n"
	"	A1 = float4(fxy[0], fyy[0], fys, -fy[0]);	\n"
	"	A2 = float4(fxs, fys, fss, -fs);	\n"
	"	float3 x3 = abs(float3(fxx[0], fxy[0], fxs));		\n"
	"	float maxa = max(max(x3.x, x3.y), x3.z);	\n"
	"	if(maxa >= 1e-10 ) \n"
	"	{												\n"
	"		if(x3.y ==maxa )							\n"
	"		{											\n"
	"			float4 TEMP = A1; A1 = A0; A0 = TEMP;	\n"
	"		}else if( x3.z == maxa )					\n"
	"		{											\n"
	"			float4 TEMP = A2; A2 = A0; A0 = TEMP;	\n"
	"		}											\n"
	"		A0 /= A0.x;									\n"
	"		A1 -= A1.x * A0;							\n"
	"		A2 -= A2.x * A0;							\n"
	"		float2 x2 = abs(float2(A1.y, A2.y));		\n"
	"		if( x2.y > x2.x )							\n"
	"		{											\n"
	"			float3 TEMP = A2.yzw;					\n"
	"			A2.yzw = A1.yzw;						\n"
	"			A1.yzw = TEMP;							\n"
	"			x2.x = x2.y;							\n"
	"		}											\n"
	"		if(x2.x >= 1e-10) {								\n"
	"			A1.yzw /= A1.y;								\n"
	"			A2.yzw -= A2.y * A1.yzw;					\n"
	"			if(abs(A2.z) >= 1e-10) {\n"
	"				offset.z = A2.w /A2.z;				    \n"
	"				offset.y = A1.w - offset.z*A1.z;			    \n"
	"				offset.x = A0.w - offset.z*A0.z - offset.y*A0.y;	\n"
	"				bool test = (abs(cc[0] + 0.5*dot(float3(fx[0], fy[0], fs), offset ))>THRESHOLD1) ;\n"
	"				if(!test || any( abs(offset) >= 1.0)) return;\n"
	"			}\n"
	"		}\n"
	"	}\n"
	<<"\n"
	"	float keyv = dot(key, float4(1.0, 2.0, 3.0, 4.0));\n"
	"	FragData0 = float4(keyv,  offset);\n"
	"}\n"	<<'\0';

	else out << "\n"
	"	float keyv = dot(key, float4(1.0, 2.0, 3.0, 4.0));\n"
	"	FragData0 =  float4(keyv, 0, 0, 0);\n"
	"}\n"	<<'\0';

	s_keypoint = program = new ProgramCG(buffer);
	//parameter
	_param_dog_texu = cgGetNamedParameter(*program, "texU");
	_param_dog_texd = cgGetNamedParameter(*program, "texD");
}

void ShaderBagPKCG::LoadOrientationShader()
{
	char buffer[10240];
	ostrstream out(buffer,10240);

	out<<"\n"
	"#define GAUSSIAN_WF "<<GlobalUtil::_OrientationGaussianFactor<<" \n"
	"#define SAMPLE_WF ("<<GlobalUtil::_OrientationWindowFactor<< " )\n"
	"#define ORIENTATION_THRESHOLD "<< GlobalUtil::_MulitiOrientationThreshold << "\n"
	"void main(uniform samplerRECT tex,	uniform samplerRECT gtex,		\n"
	"		uniform samplerRECT otex, 	uniform float4 size, in float2 TexCoord0 : TEXCOORD0,	\n"
	"		out float4 FeatureData : COLOR0	";

	//multi orientation output
	//use one additional texture to store up to four orientations
	//when we use one 32bit float to store two orientations, no extra texture is required

	if(GlobalUtil::_MaxOrientation >1  && GlobalUtil::_OrientationPack2 == 0)
		out<<", out float4 OrientationData : COLOR1";


	//use 9 float4 to store histogram of 36 directions
	out<<")		\n"
	"{													\n"
	"	float4 bins[10];								\n"
	"	for (int i=0; i<9; i++) bins[i] = float4(0,0,0,0);	\n"
	"	float4 sift = texRECT(tex, TexCoord0);		\n"
	"	float2 pos = sift.xy; \n"
	"	bool orientation_mode = (size.z != 0);		\n"
	"	float sigma = orientation_mode? (abs(size.z) * pow(size.w, sift.w) * sift.z) : (sift.w); \n"
	"	//bool fixed_orientation = (size.z < 0);		\n"
	"	if(size.z < 0) {FeatureData = float4(pos, 0, sigma); return;}"
	"	float gsigma = sigma * GAUSSIAN_WF;				\n"
	"	float2 win = abs(sigma.xx) * (SAMPLE_WF * GAUSSIAN_WF);	\n"
	"	float2 dim = size.xy;							\n"
	"	float4 dist_threshold = float4(win.x*win.x+0.5);	\n"
	"	float factor = -0.5/(gsigma*gsigma);			\n"
	"	float4 sz;	float2 spos;						\n"
	"	//if(any(pos.xy <= 1)) discard;					\n"
	"	sz.xy = max( pos - win, float2(2,2));			\n"
	"	sz.zw = min( pos + win, dim-3);				\n"
	"	sz = floor(sz*0.5) + 0.5; ";
	//loop to get the histogram

	out<<"\n"
	"	for(spos.y = sz.y; spos.y <= sz.w;	spos.y+=1.0)				\n"
	"	{																\n"
	"		for(spos.x = sz.x; spos.x <= sz.z;	spos.x+=1.0)			\n"
	"		{															\n"
	"			float2 offset = 2* spos - pos - 0.5;					\n"
	"			float4 off = float4(offset, offset + 1);				\n"
	"			float4 distsq = off.xzxz * off.xzxz + off.yyww * off.yyww;	\n"
	"			bool4 inside = distsq < dist_threshold;					\n"
	"			if(any(inside.xy||inside.zw))							\n"
	"			{														\n"
	"				float4 gg = texRECT(gtex, spos);					\n"
	"				float4 oo = texRECT(otex, spos);					\n"
	"				float4 weight = gg * exp(distsq * factor);			\n"
	"				float4 idxv  = floor(degrees(oo)*0.1); 				\n"
	"				idxv = idxv<0? idxv + 36.0: idxv;					\n"
	"				float4 vidx = 4.0* fract(idxv * 0.25);//fmod(idxv, 4.0);\n";

	//
	if(GlobalUtil::_UseDynamicIndexing && strcmp(cgGetProfileString(ProgramCG::_FProfile), "gp4fp")==0)
	//if(ProgramCG::_FProfile == CG_PROFILE_GPU_FP) this enumerant is not defined in cg1.5
	{
		//gp4fp supports dynamic indexing, but it might be slow on some GPUs
		out<<"\n"
	"				for(int i = 0 ; i < 4; i++)\n"
	"				{\n"
	"					if(inside[i])\n"
	"					{\n"
	"						float idx = idxv[i];								\n"
	"						float4 inc = weight[i] * float4(vidx[i] == float4(0,1,2,3));	\n"
	"						int iidx = int(floor(idx*0.25));	\n"
	"						bins[iidx]+=inc;					\n"
	"					}										\n"
	"				}											\n"
	"			}												\n"
	"		}													\n"
	"	}";

	}else
	{
		//nvfp40 still does not support dynamic array indexing
		//unrolled binary search
		//it seems to be faster than the dyanmic indexing version on some GPUs
		out<<"\n"
	"				for(int i = 0 ; i < 4; i++)\n"
	"				{\n"
	"					if(inside[i])\n"
	"					{\n"
	"						float idx = idxv[i];											\n"
	"						float4 inc = weight[i] * float4(vidx[i] == float4(0,1,2,3));	\n"
	"						if(idx < 16)							\n"
	"						{										\n"
	"							if(idx < 8)							\n"
	"							{									\n"
	"								if(idx < 4)	{	bins[0]+=inc;}	\n"
	"								else		{	bins[1]+=inc;}	\n"
	"							}else								\n"
	"							{									\n"
	"								if(idx < 12){	bins[2]+=inc;}	\n"
	"								else		{	bins[3]+=inc;}	\n"
	"							}									\n"
	"						}else if(idx < 32)						\n"
	"						{										\n"
	"							if(idx < 24)						\n"
	"							{									\n"
	"								if(idx <20)	{	bins[4]+=inc;}	\n"
	"								else		{	bins[5]+=inc;}	\n"
	"							}else								\n"
	"							{									\n"
	"								if(idx < 28){	bins[6]+=inc;}	\n"
	"								else		{	bins[7]+=inc;}	\n"
	"							}									\n"
	"						}else 						\n"
	"						{										\n"
	"							bins[8]+=inc;						\n"
	"						}										\n"
	"					}											\n"
	"				}												\n"
	"			}										\n"
	"		}											\n"
	"	}";

	}

	//reuse the code from the unpacked version..
	ShaderBagCG::WriteOrientationCodeToStream(out);


	ProgramCG * program;
	s_orientation = program = new ProgramCG(buffer);
	_param_orientation_gtex = cgGetNamedParameter(*program, "gtex");
	_param_orientation_otex = cgGetNamedParameter(*program, "otex");
	_param_orientation_size = cgGetNamedParameter(*program, "size");


}

void ShaderBagPKCG::LoadDescriptorShader()
{
	GlobalUtil::_DescriptorPPT = 16;
	LoadDescriptorShaderF2();

}

void ShaderBagPKCG::LoadDescriptorShaderF2()
{
	//one shader outpout 128/8 = 16 , each fragout encodes 4
	//const double twopi = 2.0*3.14159265358979323846;
	//const double rpi  = 8.0/twopi;
	char buffer[10240];
	ostrstream out(buffer, 10240);

	out<<setprecision(8);

	out<<"\n"
	"#define M_PI 3.14159265358979323846\n"
	"#define TWO_PI (2.0*M_PI)\n"
	"#define RPI 1.2732395447351626861510701069801\n"
	"#define WF size.z\n"
	"void main(uniform samplerRECT tex,		\n"
	"uniform	samplerRECT gtex,				\n"
	"uniform samplerRECT otex,				\n"
	"uniform float4		dsize,				\n"
	"uniform float3		size,				\n"
	"in		float2	TexCoord0 : TEXCOORD0,	\n"
	"out		float4  FragData0:COLOR0,		\n"
	"out		float4	FragData1:COLOR1)		\n"
	"{\n"
	"	float2 dim	= size.xy;	//image size			\n"
	"	float index = dsize.x*floor(TexCoord0.y * 0.5) + TexCoord0.x;\n"
	"	float idx = 8.0 * frac(index * 0.125) + 8.0 * floor(2.0 * frac(TexCoord0.y * 0.5));		\n"
	"	index = floor(index*0.125)+ 0.49;  \n"
	"	float2 coord = floor( float2( fmod(index, dsize.z), index*dsize.w)) + 0.5 ;\n"
	"	float2 pos = texRECT(tex, coord).xy;		\n"
	"	if(any(pos.xy <= 1) || any(pos.xy >=dim-1)) "
	"	//discard;	\n"
	"	{ FragData0 = FragData1 = float4(0.0); return; }\n"
	"	float anglef = texRECT(tex, coord).z;\n"
	"	if(anglef > M_PI) anglef -= TWO_PI;\n"
	"	float sigma = texRECT(tex, coord).w; \n"
	"	float spt  = abs(sigma * WF);	//default to be 3*sigma	\n";
	//rotation
	out<<
	"	float4 cscs, rots;								\n"
	"	sincos(anglef, cscs.y, cscs.x);					\n"
	"	cscs.zw = - cscs.xy;							\n"
	"	rots = cscs /spt;								\n"
	"	cscs *= spt; \n";

	//here cscs is actually (cos, sin, -cos, -sin) * (factor: 3)*sigma
	//and rots is  (cos, sin, -cos, -sin ) /(factor*sigma)
	//devide the 4x4 sift grid into 16 1x1 block, and each corresponds to a shader thread
	//To use linear interoplation, 1x1 is increased to 2x2, by adding 0.5 to each side
	out<<
	"	float4 temp; float2 pt, offsetpt;				\n"
	"	/*the fraction part of idx is .5*/			\n"
	"	offsetpt.x = 4.0 * fract(idx * 0.25) - 2.0;				\n"
	"	offsetpt.y = floor(idx*0.25) - 1.5;			\n"
	"	temp = cscs.xwyx*offsetpt.xyxy;				\n"
	"	pt = pos + temp.xz + temp.yw;				\n";
	
	//get a horizontal bounding box of the rotated rectangle
	out<<
	"	float2 bwin = abs(cscs.xy);					\n"
	"	float bsz = bwin.x + bwin.y;					\n"
	"	float4 sz;	float2 spos;					\n"
	"	sz.xy = max(pt - bsz, float2(2,2));\n"
	"	sz.zw = min(pt + bsz, dim - 3);		\n"
	"	sz = floor(sz * 0.5) + 0.5;"; //move sample point to pixel center
	//get voting for two box

	out<<"\n"
	"	float4 DA, DB;						\n"
	"	DA = DB  = float4(0, 0, 0, 0);		\n"
	"	float4 nox = float4(0, rots.xy, rots.x + rots.y);					\n"
	"	float4 noy = float4(0, rots.wx, rots.w + rots.x);					\n"
	"	for(spos.y = sz.y; spos.y <= sz.w;	spos.y+=1.0)				\n"
	"	{																\n"
	"		for(spos.x = sz.x; spos.x <= sz.z;	spos.x+=1.0)			\n"
	"		{															\n"
	"			float2 tpt = spos * 2.0 - pt - 0.5;					\n"
	"			float4 temp = rots.xywx * tpt.xyxy;						\n"
	"			float2 temp2 = temp.xz + temp.yw;						\n"
	"			float4 nx = temp2.x + nox;								\n"
	"			float4 ny = temp2.y + noy;			\n"
	"			float4 nxn = abs(nx), nyn = abs(ny);						\n"
	"			bool4 inside = (max(nxn, nyn) < 1.0);	\n"
	"			if(any(inside.xy || inside.zw))\n"
	"			{\n"
	"				float4 gg = texRECT(gtex, spos);\n"
	"				float4 oo = texRECT(otex, spos);\n"
	"				float4 theta0 = (anglef - oo)*RPI;\n"
	"				float4 theta = theta0 < 0? theta0 + 8.0 : theta0;//8.0 * frac(1.0 + 0.125 * theta0);// 		\n"
	"				float4 theta1 = floor(theta); \n"
	"				float4 diffx = nx + offsetpt.x, diffy = ny + offsetpt.y;	\n"
	"				float4 ww = exp(-0.125 * (diffx * diffx + diffy * diffy ));	\n"
	"				float4 weight = (1 - nxn) * (1 - nyn) * gg * ww; \n"
	"				float4 weight2 = (theta - theta1) * weight;							\n"
	"				float4 weight1 = weight - weight2;						\n"
	"				for(int i = 0;i < 4; i++)\n"
	"				{\n"
	"					if(inside[i])\n"
	"					{\n"
	"						DA += float4(theta1[i] == float4(0, 1, 2, 3))*weight1[i];	\n"
	"						DA += float4(theta1[i] == float4(7, 0, 1, 2))*weight2[i];	\n"
	"						DB += float4(theta1[i] == float4(4, 5, 6, 7))*weight1[i];	\n"
	"						DB += float4(theta1[i] == float4(3, 4, 5, 6))*weight2[i];	\n"
	"					}\n"
	"				}\n"
	"			}\n"
	"		}\n"
	"	}\n";
	out<<
	"	 FragData0 = DA; FragData1 = DB;\n"
	"}\n"<<'\0';
	ProgramCG * program; 

	s_descriptor_fp = program =  new ProgramCG(buffer);
	_param_descriptor_gtex = cgGetNamedParameter(*program, "gtex");
	_param_descriptor_otex = cgGetNamedParameter(*program, "otex");
	_param_descriptor_size = cgGetNamedParameter(*program, "size");
	_param_descriptor_dsize = cgGetNamedParameter(*program, "dsize");

}

void ShaderBagPKCG::SetMarginCopyParam(int xmax, int ymax)
{
	float truncate[4];
	truncate[0] = (xmax - 0.5f) * 0.5f; //((xmax + 1)  >> 1) - 0.5f;
	truncate[1] = (ymax - 0.5f) * 0.5f; //((ymax + 1)  >> 1) - 0.5f;
	truncate[2] = (xmax %2 == 1)? 0.0f: 1.0f;
	truncate[3] = truncate[2] +  (((ymax % 2) == 1)? 0.0f : 2.0f);
	cgGLSetParameter4fv(_param_margin_copy_truncate, truncate);
}

void ShaderBagPKCG::SetGradPassParam(int texP)
{
	cgGLSetTextureParameter(_param_grad_pass_texp, texP);
	cgGLEnableTextureParameter(_param_grad_pass_texp);
}

void ShaderBagPKCG::SetGenListEndParam(int ktex)
{
	cgGLSetTextureParameter(_param_genlist_end_ktex, ktex);
	cgGLEnableTextureParameter(_param_genlist_end_ktex);
}

void ShaderBagPKCG::SetDogTexParam(int texU, int texD)
{
	cgGLSetTextureParameter(_param_dog_texu, texU);
	cgGLEnableTextureParameter(_param_dog_texu);
	cgGLSetTextureParameter(_param_dog_texd, texD);
	cgGLEnableTextureParameter(_param_dog_texd);
}

void ShaderBagPKCG::SetGenListInitParam(int w, int h)
{
	float bbox[4] = {(w -1.0f) * 0.5f +0.25f, (w-1.0f) * 0.5f - 0.25f,  (h - 1.0f) * 0.5f + 0.25f, (h-1.0f) * 0.5f - 0.25f};
	cgGLSetParameter4fv(_param_genlist_init_bbox, bbox);
}


void ShaderBagPKCG::SetGenListStartParam(float width, int tex0)
{
	cgGLSetParameter1f(_param_ftex_width, width);

	if(_param_genlist_start_tex0)
	{
		cgGLSetTextureParameter(_param_genlist_start_tex0, tex0);
		cgGLEnableTextureParameter(_param_genlist_start_tex0);
	}
}



void ShaderBagPKCG::SetGenListStepParam(int tex, int tex0)
{
	cgGLSetTextureParameter(_param_genlist_step_tex, tex);
	cgGLEnableTextureParameter(_param_genlist_step_tex);
	cgGLSetTextureParameter(_param_genlist_step_tex0, tex0);
	cgGLEnableTextureParameter(_param_genlist_step_tex0);
}

void ShaderBagPKCG::SetGenVBOParam(float width, float fwidth, float size)
{
	float sizes[4] = {size*3.0f, fwidth, width, 1.0f/width};
	cgGLSetParameter4fv(_param_genvbo_size, sizes);
}

void ShaderBagPKCG::SetSimpleOrientationInput(int oTex, float sigma, float sigma_step)
{
	cgGLSetTextureParameter(_param_orientation_gtex, oTex);
	cgGLEnableTextureParameter(_param_orientation_gtex);
	cgGLSetParameter2f(_param_orientation_size, sigma, sigma_step);
}


void ShaderBagPKCG::SetFeatureOrientationParam(int gtex, int width, int height, float sigma, int otex, float step)
{
	///
	cgGLSetTextureParameter(_param_orientation_gtex, gtex);	
	cgGLEnableTextureParameter(_param_orientation_gtex);
	cgGLSetTextureParameter(_param_orientation_otex, otex);	
	cgGLEnableTextureParameter(_param_orientation_otex);

	float size[4];
	size[0] = (float)width;
	size[1] = (float)height;
	size[2] = sigma;
	size[3] = step;
	cgGLSetParameter4fv(_param_orientation_size, size);

}

void ShaderBagPKCG::SetFeatureDescirptorParam(int gtex, int otex, float dwidth, float fwidth,  float width, float height, float sigma)
{
	///

	cgGLSetTextureParameter(_param_descriptor_gtex, gtex);	
	cgGLEnableTextureParameter(_param_descriptor_gtex);
	cgGLSetTextureParameter(_param_descriptor_otex, otex);	
	cgGLEnableTextureParameter(_param_descriptor_otex);


	float dsize[4] ={dwidth, 1.0f/dwidth, fwidth, 1.0f/fwidth};
	cgGLSetParameter4fv(_param_descriptor_dsize, dsize);
	float size[3];
	size[0] = width;
	size[1] = height;
	size[2] = GlobalUtil::_DescriptorWindowFactor;
	cgGLSetParameter3fv(_param_descriptor_size, size);


}

#endif