colmap/lib/SiftGPU/SiftGPU.cpp

////////////////////////////////////////////////////////////////////////////
//	File:		SiftGPU.cpp
//	Author:		Changchang Wu
//	Description :	Implementation of the SIFTGPU classes.
//					SiftGPU:	The SiftGPU Tool.
//					SiftGPUEX:	SiftGPU + viewer
//					SiftParam:	Sift Parameters
//
//	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
//
////////////////////////////////////////////////////////////////////////////


#include "GL/glew.h"
#include <iostream>
#include <fstream>
#include <string>
#include <iomanip>
#include <vector>
#include <algorithm>
#include <math.h>

#include <time.h>
using namespace std;


#include "GlobalUtil.h"
#include "SiftGPU.h"
#include "GLTexImage.h"
#include "ShaderMan.h"
#include "FrameBufferObject.h"
#include "SiftPyramid.h"
#include "PyramidGL.h"

//CUDA works only with vc8 or higher
#if defined(CUDA_SIFTGPU_ENABLED)
#include "PyramidCU.h"
#endif

#if defined(CL_SIFTGPU_ENABLED)
#include "PyramidCL.h"
#endif


////
#if  defined(_WIN32)
	#include "direct.h"
	#pragma warning (disable : 4786)
	#pragma warning (disable : 4996)
#else
	//compatible with linux
	#define _stricmp strcasecmp
    #include <stdlib.h>
    #include <string.h>
	#include <unistd.h>
#endif

#if !defined(_MAX_PATH)
	#if defined (PATH_MAX)
		#define _MAX_PATH PATH_MAX
	#else
		#define _MAX_PATH 512
	#endif
#endif

//////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////
//
//just want to make this class invisible
class ImageList:public std::vector<std::string> {};

SiftGPU::SiftGPU(int np)
{
	_texImage = new GLTexInput;
	_imgpath =  new char[_MAX_PATH];
	_outpath = new char[_MAX_PATH];
    _imgpath[0] = _outpath[0] = 0;
	_initialized = 0;
	_image_loaded = 0;
	_current = 0;
	_list = new ImageList();
	_pyramid = NULL;
}



SiftGPUEX::SiftGPUEX()
{
	_view = _sub_view = 0;
	_view_debug = 0;
	GlobalUtil::_UseSiftGPUEX = 1;
	srand((unsigned int)time(NULL));
	RandomizeColor();
}


void SiftGPUEX::RandomizeColor()
{
	float hsv[3] = {0, 0.8f, 1.0f};
	for(int i = 0; i < COLOR_NUM*3; i+=3)
	{
		hsv[0] = (rand()%100)*0.01f; //i/float(COLOR_NUM);
		HSVtoRGB(hsv, _colors+i);
	}
}

SiftGPU::~SiftGPU()
{
	if(_pyramid) delete _pyramid;
	delete _texImage;
	delete _list;
    delete[] _imgpath;
    delete[] _outpath;
}


inline void SiftGPU::InitSiftGPU()
{
	if(_initialized || GlobalUtil::_GoodOpenGL ==0) return;

	//Parse sift parameters
	ParseSiftParam();

#if !defined(CUDA_SIFTGPU_ENABLED)
	if(GlobalUtil::_UseCUDA)
	{
		GlobalUtil::_UseCUDA = 0;
		std::cerr	<< "---------------------------------------------------------------------------\n"
					<< "CUDA not supported in this binary! To enable it, please use SiftGPU_CUDA_Enable\n"
					<< "solution for VS2005+ or set siftgpu_enable_cuda to 1 in makefile\n"
					<< "----------------------------------------------------------------------------\n";
	}
#else
	if(GlobalUtil::_UseCUDA == 0  && GlobalUtil::_UseOpenCL == 0)
	{
		// GlobalUtil::InitGLParam(0);
	}
    if(GlobalUtil::_GoodOpenGL == 0)
    {
        GlobalUtil::_UseCUDA = 1;
        std::cerr << "Switch from OpenGL to CUDA\n";
    }

    if(GlobalUtil::_UseCUDA && !PyramidCU::CheckCudaDevice(GlobalUtil::_DeviceIndex))
    {
        std::cerr << "Switch from CUDA to OpenGL\n";
        GlobalUtil::_UseCUDA = 0;
    }
#endif

	if(GlobalUtil::_verbose)	std::cout   <<"\n[SiftGPU Language]:\t"
                                            << (GlobalUtil::_UseCUDA? "CUDA" :
                                            (GlobalUtil::_UseOpenCL? "OpenCL" : "GLSL")) <<"\n";

#if defined(CUDA_SIFTGPU_ENABLED)
	if(GlobalUtil::_UseCUDA)
		_pyramid = new PyramidCU(*this);
	else
#endif
#if defined(CL_SIFTGPU_ENABLED)
    if(GlobalUtil::_UseOpenCL)
        _pyramid = new PyramidCL(*this);
    else
#endif
	if(GlobalUtil::_usePackedTex)
		_pyramid = new PyramidPacked(*this);
	else
		_pyramid = new PyramidNaive(*this);


	if(GlobalUtil::_GoodOpenGL && GlobalUtil::_InitPyramidWidth > 0 && GlobalUtil::_InitPyramidHeight > 0)
	{
		GlobalUtil::StartTimer("Initialize Pyramids");
		_pyramid->InitPyramid(GlobalUtil::_InitPyramidWidth, GlobalUtil::_InitPyramidHeight, 0);
		GlobalUtil::StopTimer();
	}

	ClockTimer::InitHighResolution();
	_initialized = 1;
}

int	 SiftGPU::RunSIFT(int index)
{
	if(_list->size()>0 )
	{
		index = index % _list->size();
		if(strcmp(_imgpath, _list->at(index).data()))
		{
			strcpy(_imgpath, _list->at(index).data());
			_image_loaded = 0;
			_current = index;
		}
		return RunSIFT();
	}else
	{
		return 0;
	}

}

int  SiftGPU::RunSIFT( int width,  int height, const void * data, unsigned int gl_format, unsigned int gl_type)
{

	if(GlobalUtil::_GoodOpenGL ==0 ) return 0;
	if(!_initialized) InitSiftGPU();
	else GlobalUtil::SetGLParam();
	if(GlobalUtil::_GoodOpenGL ==0 ) return 0;

	if(width > 0 && height >0 && data != NULL)
	{
		_imgpath[0] = 0;
		//try downsample the image on CPU
		GlobalUtil::StartTimer("Upload Image data");
		if(_texImage->SetImageData(width, height, data, gl_format, gl_type))
		{
			_image_loaded = 2; //gldata;
			GlobalUtil::StopTimer();
			_timing[0] = GlobalUtil::GetElapsedTime();

			//if the size of image is different, the pyramid need to be reallocated.
			GlobalUtil::StartTimer("Initialize Pyramid");
			_pyramid->InitPyramid(width, height, _texImage->_down_sampled);
			GlobalUtil::StopTimer();
			_timing[1] = GlobalUtil::GetElapsedTime();

			return RunSIFT();
		}else
		{
			return 0;
		}
	}else
	{
		return 0;
	}

}

int  SiftGPU::RunSIFT(const char * imgpath)
{
	if(imgpath && imgpath[0])
	{
		//set the new image
		strcpy(_imgpath, imgpath);
		_image_loaded = 0;
		return RunSIFT();
	}else
	{
		return 0;
	}


}

int SiftGPU::RunSIFT(int num, const SiftKeypoint * keys, int keys_have_orientation)
{
	if(num <=0) return 0;
	_pyramid->SetKeypointList(num, (const float*) keys, 1, keys_have_orientation);
	return RunSIFT();
}

int SiftGPU::RunSIFT()
{
	//check image data
	if(_imgpath[0]==0 && _image_loaded == 0) return 0;

	//check OpenGL support
	if(GlobalUtil::_GoodOpenGL ==0 ) return 0;

	ClockTimer timer;

	if(!_initialized)
	{
	    //initialize SIFT GPU for once
		InitSiftGPU();
		if(GlobalUtil::_GoodOpenGL ==0 ) return 0;
	}else
	{
		//in case some OpenGL parameters are changed by users
		GlobalUtil::SetGLParam();
	}

	timer.StartTimer("RUN SIFT");
	//process input image file
	if( _image_loaded ==0)
	{
		int width, height;
		//load and try down-sample on cpu
		GlobalUtil::StartTimer("Load Input Image");
		if(!_texImage->LoadImageFile(_imgpath, width, height)) return 0;
		_image_loaded = 1;
		GlobalUtil::StopTimer();
		_timing[0] = GlobalUtil::GetElapsedTime();

		//make sure the pyrmid can hold the new image.
		GlobalUtil::StartTimer("Initialize Pyramid");
		_pyramid->InitPyramid(width, height, _texImage->_down_sampled);
		GlobalUtil::StopTimer();
		_timing[1] = GlobalUtil::GetElapsedTime();

	}else
	{
		//change some global states
        if(!GlobalUtil::_UseCUDA && !GlobalUtil::_UseOpenCL)
		{
			GlobalUtil::FitViewPort(1,1);
			_texImage->FitTexViewPort();
		}
		if(_image_loaded == 1)
		{
			_timing[0] = _timing[1] = 0;
		}else
		{//2
			_image_loaded = 1;
		}
	}

	if(_pyramid->_allocated ==0 ) return 0;


#ifdef DEBUG_SIFTGPU
	_pyramid->BeginDEBUG(_imgpath);
#endif

	//process the image
	_pyramid->RunSIFT(_texImage);

    //read back the timing
	_pyramid->GetPyramidTiming(_timing + 2);

	//write output once if there is only one input
	if(_outpath[0] ){   SaveSIFT(_outpath);	_outpath[0] = 0;}

	//terminate the process when -exit is provided.
	if(GlobalUtil::_ExitAfterSIFT && GlobalUtil::_UseSiftGPUEX) exit(0);

	timer.StopTimer();
	if(GlobalUtil::_verbose)std::cout<<endl;

    return _pyramid->GetSucessStatus();
}


void SiftGPU::SetKeypointList(int num, const SiftKeypoint * keys, int keys_have_orientation)
{
	_pyramid->SetKeypointList(num, (const float*)keys, 0, keys_have_orientation);
}

void SiftGPUEX::DisplayInput()
{
	if(_texImage==NULL) return;
    _texImage->VerifyTexture();
	_texImage->BindTex();
	_texImage->DrawImage();
	_texImage->UnbindTex();

}

void SiftGPU::SetVerbose(int verbose)
{
	GlobalUtil::_timingO = verbose>2;
	GlobalUtil::_timingL = verbose>3;
	if(verbose == -1)
	{
		//Loop between verbose level 0, 1, 2
		if(GlobalUtil::_verbose)
		{
			GlobalUtil::_verbose  = GlobalUtil::_timingS;
			GlobalUtil::_timingS = 0;
			if(GlobalUtil::_verbose ==0 && GlobalUtil::_UseSiftGPUEX)
				std::cout << "Console output disabled, press Q/V to enable\n\n";
		}else
		{
			GlobalUtil::_verbose = 1;
			GlobalUtil::_timingS = 1;
		}
	}else if(verbose == -2)
	{
		//trick for disabling all output (still keeps the timing level)
		GlobalUtil::_verbose = 0;
		GlobalUtil::_timingS = 1;
	}else
	{
		GlobalUtil::_verbose = verbose>0;
		GlobalUtil::_timingS = verbose>1;
	}
}


SiftParam::SiftParam()
{

	_level_min = -1;
	_dog_level_num  = 3;
	_level_max = 0;
	_sigma0 = 0;
	_sigman = 0;
	_edge_threshold = 0;
	_dog_threshold =  0;


}

float SiftParam::GetInitialSmoothSigma(int octave_min)
{
	float	sa = _sigma0 * powf(2.0f, float(_level_min)/float(_dog_level_num)) ;
	float   sb = _sigman / powf(2.0f,  float(octave_min)) ;//
	float   sigma_skip0 = sa > sb + 0.001?sqrt(sa*sa - sb*sb): 0.0f;
	return  sigma_skip0;
}

void SiftParam::ParseSiftParam()
{

	if(_dog_level_num ==0) _dog_level_num = 3;
	if(_level_max ==0) _level_max = _dog_level_num + 1;
	if(_sigma0 ==0.0f) _sigma0 = 1.6f * powf(2.0f, 1.0f / _dog_level_num) ;
	if(_sigman == 0.0f) _sigman = 0.5f;


	_level_num = _level_max -_level_min + 1;

	_level_ds  = _level_min + _dog_level_num;
	if(_level_ds > _level_max ) _level_ds = _level_max ;

	///
	float _sigmak = powf(2.0f, 1.0f / _dog_level_num) ;
	float dsigma0 = _sigma0 * sqrt (1.0f - 1.0f / (_sigmak*_sigmak) ) ;
	float sa, sb;


	sa = _sigma0 * powf(_sigmak, (float)_level_min) ;
	sb = _sigman / powf(2.0f,   (float)GlobalUtil::_octave_min_default) ;//

	_sigma_skip0 = sa>sb+ 0.001?sqrt(sa*sa - sb*sb): 0.0f;

    sa = _sigma0 * powf(_sigmak, float(_level_min )) ;
    sb = _sigma0 * powf(_sigmak, float(_level_ds - _dog_level_num)) ;

	_sigma_skip1 = sa>sb + 0.001? sqrt(sa*sa - sb*sb): 0.0f;

	_sigma_num = _level_max - _level_min;
	_sigma = new float[_sigma_num];

	for(int i = _level_min + 1; i <= _level_max; i++)
	{
		_sigma[i-_level_min -1] =  dsigma0 * powf(_sigmak, float(i)) ;
	}

	if(_dog_threshold ==0)	_dog_threshold      = 0.02f / _dog_level_num ;
	if(_edge_threshold==0) _edge_threshold		= 10.0f;
}


void SiftGPUEX::DisplayOctave(void (*UseDisplayShader)(), int i)
{
	if(_pyramid == NULL)return;
	const int grid_sz = (int)ceil(_level_num/2.0);
	double scale = 1.0/grid_sz ;
	int gx=0, gy=0, dx, dy;

	if(_pyramid->_octave_min >0) scale *= (1<<_pyramid->_octave_min);
	else if(_pyramid->_octave_min < 0) scale /= (1<<(-_pyramid->_octave_min));


	i = i% _pyramid->_octave_num;  //
	if(i<0 ) i+= _pyramid->_octave_num;

	scale *= ( 1<<(i));




	UseDisplayShader();

	glPushMatrix();
	glScaled(scale, scale, scale);
	for(int level = _level_min; level<= _level_max; level++)
	{
		GLTexImage * tex = _pyramid->GetLevelTexture(i+_pyramid->_octave_min, level);

		dx = tex->GetImgWidth();
		dy = tex->GetImgHeight();

		glPushMatrix();

		glTranslated(dx*gx, dy*gy, 0);

		tex->BindTex();

		tex->DrawImage();
		tex->UnbindTex();

		glPopMatrix();

		gx++;
		if(gx>=grid_sz)
		{
			gx =0;
			gy++;
		}

	}

	glPopMatrix();
	ShaderMan::UnloadProgram();
}

void SiftGPUEX::DisplayPyramid( void (*UseDisplayShader)(), int dataName, int nskip1, int nskip2)
{

	if(_pyramid == NULL)return;
	int grid_sz = (_level_num -nskip1 - nskip2);
	if(grid_sz > 4) grid_sz = (int)ceil(grid_sz*0.5);
	double scale = 1.0/grid_sz;
	int stepx = 0, stepy = 0, dx, dy=0, nstep;

	if(_pyramid->_octave_min >0) scale *= (1<<_pyramid->_octave_min);
	else if(_pyramid->_octave_min < 0) scale /= (1<<(-_pyramid->_octave_min));


	glPushMatrix();
	glScaled(scale, scale, scale);

	for(int i = _pyramid->_octave_min; i < _pyramid->_octave_min+_pyramid->_octave_num; i++)
	{

		nstep = i==_pyramid->_octave_min? grid_sz: _level_num;
		dx = 0;
		UseDisplayShader();
		for(int j = _level_min + nskip1; j <= _level_max-nskip2; j++)
		{
			GLTexImage * tex = _pyramid->GetLevelTexture(i, j, dataName);
			if(tex->GetImgWidth() == 0 || tex->GetImgHeight() == 0) continue;
			stepx = tex->GetImgWidth();
			stepy = tex->GetImgHeight();
			////
			if(j == _level_min + nskip1 + nstep)
			{
				dy += stepy;
				dx = 0;
			}

			glPushMatrix();
			glTranslated(dx, dy, 0);
			tex->BindTex();
			tex->DrawImage();
			tex->UnbindTex();
			glPopMatrix();

			dx += stepx;

		}

		ShaderMan::UnloadProgram();

		dy+= stepy;
	}

	glPopMatrix();
}


void SiftGPUEX::DisplayLevel(void (*UseDisplayShader)(), int i)
{
	if(_pyramid == NULL)return;

	i = i%(_level_num * _pyramid->_octave_num);
	if (i<0 ) i+= (_level_num * _pyramid->_octave_num);
	int octave = _pyramid->_octave_min + i/_level_num;
	int level  = _level_min + i%_level_num;
	double scale = 1.0;

	if(octave >0) scale *= (1<<octave);
	else if(octave < 0) scale /= (1<<(-octave));

	GLTexImage * tex = _pyramid->GetLevelTexture(octave, level);

	UseDisplayShader();

	glPushMatrix();
	glScaled(scale, scale, scale);
	tex->BindTex();
	tex->DrawImage();
	tex->UnbindTex();
	glPopMatrix();
	ShaderMan::UnloadProgram();
}

void SiftGPUEX::DisplaySIFT()
{
	if(_pyramid == NULL) return;
    glEnable(GlobalUtil::_texTarget);
	switch(_view)
	{
	case 0:
		DisplayInput();
		DisplayFeatureBox(_sub_view);
		break;
	case 1:
		DisplayPyramid(ShaderMan::UseShaderDisplayGaussian, SiftPyramid::DATA_GAUSSIAN);
		break;
	case 2:
		DisplayOctave(ShaderMan::UseShaderDisplayGaussian, _sub_view);
		break;
	case 3:
		DisplayLevel(ShaderMan::UseShaderDisplayGaussian, _sub_view);
		break;
	case 4:
		DisplayPyramid(ShaderMan::UseShaderDisplayDOG, SiftPyramid::DATA_DOG, 1);
		break;
	case 5:
		DisplayPyramid(ShaderMan::UseShaderDisplayGrad, SiftPyramid::DATA_GRAD, 1);
		break;
	case 6:
		DisplayPyramid(ShaderMan::UseShaderDisplayDOG, SiftPyramid::DATA_DOG,2, 1);
		DisplayPyramid(ShaderMan::UseShaderDisplayKeypoints, SiftPyramid::DATA_KEYPOINT, 2,1);
	}
}


void SiftGPUEX::SetView(int view, int sub_view, char *title)
{
	const char* view_titles[] =
	{
		"Original Image",
		"Gaussian Pyramid",
		"Octave Images",
		"Level Image",
		"Difference of Gaussian",
		"Gradient",
		"Keypoints"
	};
	const int view_num = 7;
	_view = view % view_num;
	if(_view <0) _view +=view_num;
	_sub_view = sub_view;

	if(_view_debug)
		strcpy(title, "Debug...");
	else
		strcpy(title, view_titles[_view]);

}


void SiftGPU::PrintUsage()
{
	std::cout
	<<"SiftGPU Usage:\n"
	<<"-h -help          : Parameter information\n"
	<<"-i <strings>      : Filename(s) of the input image(s)\n"
	<<"-il <string>      : Filename of an image list file\n"
	<<"-o <string>       : Where to save SIFT features\n"
	<<"-f <float>        : Filter width factor; Width will be 2*factor+1 (default : 4.0)\n"
	<<"-w  <float>       : Orientation sample window factor (default: 2.0)\n"
	<<"-dw <float>  *    : Descriptor grid size factor (default : 3.0)\n"
	<<"-fo <int>    *    : First octave to detect DOG keypoints(default : 0)\n"
	<<"-no <int>         : Maximum number of Octaves (default : no limit)\n"
	<<"-d <int>          : Number of DOG levels in an octave (default : 3)\n"
	<<"-t <float>        : DOG threshold (default : 0.02/3)\n"
	<<"-e <float>        : Edge Threshold (default : 10.0)\n"
	<<"-m  <int=2>       : Multi Feature Orientations (default : 1)\n"
	<<"-m2p              : 2 Orientations packed as one float\n"
	<<"-s  <int=1>       : Sub-Pixel, Sub-Scale Localization, Multi-Refinement(num)\n"
	<<"-lcpu -lc <int>   : CPU/GPU mixed Feature List Generation (default: 6)\n"
	<<"                    Use GPU first, and use CPU when reduction size <= pow(2,num)\n"
	<<"                    When <num> is missing or equals -1, no GPU will be used\n"
	<<"-noprep           : Upload raw data to GPU (default: RGB->LUM and down-sample on CPU)\n"
	<<"-sd               : Skip descriptor computation if specified\n"
	<<"-unn    *         : Write unnormalized descriptor if specified\n"
	<<"-b      *         : Write binary sift file if specified\n"
	<<"-fs <int>         : Block Size for freature storage <default : 4>\n"
    <<"-cuda <int=0>     : Use CUDA SiftGPU, and specify the device index\n"
	<<"-tight            : Automatically resize pyramid to fit new images tightly\n"
	<<"-p  <W>x<H>       : Inititialize the pyramids to contain image of WxH (eg -p 1024x768)\n"
	<<"-tc[1|2|3] <int> *: Threshold for limiting the overall number of features (3 methods)\n"
	<<"-v <int>          : Level of timing details. Same as calling Setverbose() function\n"
	<<"-loweo            : (0, 0) at center of top-left pixel (default: corner)\n"
	<<"-maxd <int> *     : Max working dimension (default : 2560 (unpacked) / 3200 (packed))\n"
	<<"-nomc             : Disabling auto-downsamping that try to fit GPU memory cap\n"
	<<"-exit             : Exit program after processing the input image\n"
	<<"-unpack           : Use the old unpacked implementation\n"
	<<"-di               : Use dynamic array indexing if available (default : no)\n"
	<<"                    It could make computation faster on cards like GTX 280\n"
	<<"-ofix     *       : use 0 as feature orientations.\n"
	<<"-ofix-not *       : disable -ofix.\n"
	<<"-winpos <X>x<Y> * : Screen coordinate used in Win32 to select monitor/GPU.\n"
    <<"-display <string>*: Display name used in Linux/Mac to select monitor/GPU.\n"
    <<"\n"
    <<"NOTE: parameters marked with * can be changed after initialization\n"
	<<"\n";
}

void SiftGPU::ParseParam(const int argc, const char **argv)
{
    #define CHAR1_TO_INT(x)         ((x >= 'A' && x <= 'Z') ? x + 32 : x)
    #define CHAR2_TO_INT(str, i)    (str[i] ? CHAR1_TO_INT(str[i]) + (CHAR1_TO_INT(str[i+1]) << 8) : 0)
    #define CHAR3_TO_INT(str, i)    (str[i] ? CHAR1_TO_INT(str[i]) + (CHAR2_TO_INT(str, i + 1) << 8) : 0)
    #define STRING_TO_INT(str)      (CHAR1_TO_INT(str[0]) +  (CHAR3_TO_INT(str, 1) << 8))

#ifdef _MSC_VER
    //charizing is microsoft only
    #define MAKEINT1(a)             (#@a )
#else
    #define mychar0    '0'
    #define mychar1    '1'
    #define mychar2    '2'
    #define mychar3    '3'
    #define mychara    'a'
    #define mycharb    'b'
    #define mycharc    'c'
    #define mychard    'd'
    #define mychare    'e'
    #define mycharf    'f'
    #define mycharg    'g'
    #define mycharh    'h'
    #define mychari    'i'
    #define mycharj    'j'
    #define mychark    'k'
    #define mycharl    'l'
    #define mycharm    'm'
    #define mycharn    'n'
    #define mycharo    'o'
    #define mycharp    'p'
    #define mycharq    'q'
    #define mycharr    'r'
    #define mychars    's'
    #define mychart    't'
    #define mycharu    'u'
    #define mycharv    'v'
    #define mycharw    'w'
    #define mycharx    'x'
    #define mychary    'y'
    #define mycharz    'z'
    #define MAKEINT1(a)             (mychar##a )
#endif
    #define MAKEINT2(a, b)          (MAKEINT1(a) + (MAKEINT1(b) << 8))
    #define MAKEINT3(a, b, c)       (MAKEINT1(a) + (MAKEINT2(b, c) << 8))
    #define MAKEINT4(a, b, c, d)    (MAKEINT1(a) + (MAKEINT3(b, c, d) << 8))


	const char* arg, *param, * opt;
	int  setMaxD = 0, opti;
	for(int i = 0; i< argc; i++)
	{
		arg = argv[i];
		if(arg == NULL || arg[0] != '-' || !arg[1])continue;
		opt = arg+1;
        opti = STRING_TO_INT(opt);
		param = argv[i+1];

        ////////////////////////////////
        switch(opti)
        {
        case MAKEINT1(h):
        case MAKEINT4(h, e, l, p):
			PrintUsage();
            break;
        case MAKEINT4(c, u, d, a):
#if defined(CUDA_SIFTGPU_ENABLED)

            if(!_initialized)
            {
			    GlobalUtil::_UseCUDA = 1;
                int device =  -1;
			    if(i+1 <argc && sscanf(param, "%d", &device) && device >=0)
                {
                    GlobalUtil::_DeviceIndex = device;
                    i++;
                }
            }
#else
 		std::cerr	<< "---------------------------------------------------------------------------\n"
					<< "CUDA not supported in this binary! To enable it, please use SiftGPU_CUDA_Enable\n"
					<< "solution for VS2005+ or set siftgpu_enable_cuda to 1 in makefile\n"
					<< "----------------------------------------------------------------------------\n";
#endif
            break;
        case MAKEINT2(c, l):
#if defined(CL_SIFTGPU_ENABLED)
            if(!_initialized) GlobalUtil::_UseOpenCL = 1;
#else
		    std::cerr	<< "---------------------------------------------------------------------------\n"
					    << "OpenCL not supported in this binary! Define CL_CUDA_SIFTGPU_ENABLED to..\n"
					    << "----------------------------------------------------------------------------\n";
#endif
            break;

        case MAKEINT4(p, a, c, k):
			if(!_initialized) GlobalUtil::_usePackedTex = 1;
            break;
        case MAKEINT4(u, n, p, a): //unpack
			if(!_initialized)
            {
                GlobalUtil::_usePackedTex = 0;
                if(!setMaxD) GlobalUtil::_texMaxDim = 2560;
            }
            break;
        case MAKEINT4(l, c, p, u):
        case MAKEINT2(l, c):
            if(!_initialized)
            {
			    int gskip = -1;
			    if(i+1 <argc)	sscanf(param, "%d", &gskip);
			    if(gskip >= 0)
			    {
				    GlobalUtil::_ListGenSkipGPU = gskip;
			    }else
			    {
				    GlobalUtil::_ListGenGPU = 0;
			    }
            }
            break;
        case MAKEINT4(p, r, e, p):
			GlobalUtil::_PreProcessOnCPU = 1;
            break;
        case MAKEINT4(n, o, p, r): //noprep
			GlobalUtil::_PreProcessOnCPU = 0;
            break;
        case MAKEINT4(f, b, o, 1):
			FrameBufferObject::UseSingleFBO =1;
            break;
        case MAKEINT4(f, b, o, s):
			FrameBufferObject::UseSingleFBO = 0;
            break;
		case MAKEINT2(s, d):
			if(!_initialized) GlobalUtil::_DescriptorPPT =0;
            break;
        case MAKEINT3(u, n, n):
			GlobalUtil::_NormalizedSIFT =0;
            break;
        case MAKEINT4(n, d, e, s):
			GlobalUtil::_NormalizedSIFT =1;
            break;
        case MAKEINT1(b):
			GlobalUtil::_BinarySIFT = 1;
            break;
        case MAKEINT4(t, i, g, h): //tight
			GlobalUtil::_ForceTightPyramid = 1;
            break;
        case MAKEINT4(e, x, i, t):
			GlobalUtil::_ExitAfterSIFT = 1;
            break;
        case MAKEINT2(d, i):
			GlobalUtil::_UseDynamicIndexing = 1;
            break;
        case MAKEINT4(s, i, g, n):
            if(!_initialized || GlobalUtil::_UseCUDA) GlobalUtil::_KeepExtremumSign = 1;
            break;
		case MAKEINT1(m):
        case MAKEINT2(m, o):
            if(!_initialized)
            {
			    int mo = 2; //default multi-orientation
			    if(i+1 <argc)	sscanf(param, "%d", &mo);
			    //at least two orientation
			    GlobalUtil::_MaxOrientation = min(max(1, mo), 4);
            }
            break;
        case MAKEINT3(m, 2, p):
            if(!_initialized)
            {
			    GlobalUtil::_MaxOrientation = 2;
			    GlobalUtil::_OrientationPack2 = 1;
            }
            break;
        case MAKEINT1(s):
            if(!_initialized)
            {
                int sp = 1; //default refinement
                if(i+1 <argc)	sscanf(param, "%d", &sp);
                //at least two orientation
                GlobalUtil::_SubpixelLocalization = min(max(0, sp),5);
            }
            break;
        case MAKEINT4(o, f, i, x):
			GlobalUtil::_FixedOrientation = (_stricmp(opt, "ofix")==0);
            break;
		case MAKEINT4(l, o, w, e): // loweo
			GlobalUtil::_LoweOrigin = 1;
            break;
        case MAKEINT4(n, a, r, r): // narrow
			GlobalUtil::_NarrowFeatureTex = 1;
            break;
        case MAKEINT4(d, e, b, u): // debug
			GlobalUtil::_debug = 1;
            break;
        case MAKEINT2(k, 0):
            GlobalUtil::_KeyPointListForceLevel0 = 1;
            break;
        case MAKEINT2(k, x):
            GlobalUtil::_KeyPointListForceLevel0 = 0;
            break;
		case MAKEINT2(d, a):
			GlobalUtil::_DarknessAdaption = 1;
			break;
		case MAKEINT3(f, m, c):
			GlobalUtil::_FitMemoryCap = 1;
			break;
		case MAKEINT4(n, o, m, c):
			GlobalUtil::_FitMemoryCap = 0;
			break;
        default:
            if(i + 1 >= argc) break;
            switch(opti)
            {
            case MAKEINT1(i):
                strcpy(_imgpath, param);
                i++;
                //get the file list..
                _list->push_back(param);
                while( i+1 < argc && argv[i+1][0] !='-')
                {
                    _list->push_back(argv[++i]);
                }
                break;
            case MAKEINT2(i, l):
                LoadImageList(param);
                i++;
                break;
            case MAKEINT1(o):
                strcpy(_outpath, param);
                i++;
                break;
            case MAKEINT1(f):
                {
                    float factor = 0.0f;
                    if(sscanf(param, "%f", &factor) && factor > 0 )
                    {
                        GlobalUtil::_FilterWidthFactor  = factor;
                        i++;
                    }
                }
                break;
            case MAKEINT2(o, t):
                {
                    float factor = 0.0f;
                    if(sscanf(param, "%f", &factor) && factor>0 )
                    {
                        GlobalUtil::_MulitiOrientationThreshold  = factor;
                        i++;
                    }
                    break;
                }
            case MAKEINT1(w):
                {
                    float factor = 0.0f;
                    if(sscanf(param, "%f", &factor) && factor>0 )
                    {
                        GlobalUtil::_OrientationWindowFactor  = factor;
                        i++;
                    }
                    break;
                }
            case MAKEINT2(d, w):
                {
                    float factor = 0.0f;
                    if(sscanf(param, "%f", &factor) && factor > 0 )
                    {
                        GlobalUtil::_DescriptorWindowFactor  = factor;
                        i++;
                    }
                    break;
                }
            case MAKEINT2(f, o):
                {
                    int first_octave = -3;
                    if(sscanf(param, "%d", &first_octave) && first_octave >=-2 )
                    {
                        GlobalUtil::_octave_min_default = first_octave;
                        i++;
                    }
                    break;
                }
            case MAKEINT2(n, o):
                if(!_initialized)
                {
                    int octave_num=-1;
                    if(sscanf(param, "%d", &octave_num))
                    {
                        octave_num = max(-1, octave_num);
                        if(octave_num ==-1 || octave_num >=1)
                        {
                            GlobalUtil::_octave_num_default = octave_num;
                            i++;
                        }
                    }
                }
                break;
            case MAKEINT1(t):
                {
                    float threshold = 0.0f;
                    if(sscanf(param, "%f", &threshold) && threshold >0 && threshold < 0.5f)
                    {
                        SiftParam::_dog_threshold = threshold;
                        i++;
                    }
                    break;
                }
            case MAKEINT1(e):
                {
                    float threshold = 0.0f;
                    if(sscanf(param, "%f", &threshold) && threshold >0 )
                    {
                        SiftParam::_edge_threshold = threshold;
                        i++;
                    }
                    break;
                }
            case MAKEINT1(d):
                {
                    int num = 0;
                    if(sscanf(param, "%d", &num) && num >=1 && num <=10)
                    {
                        SiftParam::_dog_level_num = num;
                        i++;
                    }
                    break;
                }
            case MAKEINT2(f, s):
                {
                    int num = 0;
                    if(sscanf(param, "%d", &num) && num >=1)
                    {
                        GlobalParam::_FeatureTexBlock = num;
                        i++;
                    }
                    break;
                }
            case MAKEINT1(p):
                {
                    int w =0, h=0;
                    if(sscanf(param, "%dx%d", &w, &h) == 2 && w >0 &&  h>0)
                    {
                        GlobalParam::_InitPyramidWidth = w;
                        GlobalParam::_InitPyramidHeight = h;
                        i++;
                    }
                    break;
                }
            case MAKEINT4(w, i, n, p): //winpos
                {
                    int x =0, y=0;
                    if(sscanf(param, "%dx%d", &x, &y) == 2)
                    {
                        GlobalParam::_WindowInitX = x;
                        GlobalParam::_WindowInitY = y;
                        i++;
                    }
                    break;
                }
            case MAKEINT4(d, i, s, p): //display
                {
                    GlobalParam::_WindowDisplay = param;
                    i++;
                    break;
                }
            case MAKEINT2(l, m):
                {
                    int num = 0;
                    if(sscanf(param, "%d", &num) && num >=1000)
                    {
                        GlobalParam::_MaxLevelFeatureNum = num;
                        i++;
                    }
                    break;
                }
            case MAKEINT3(l, m, p):
                {
                    float num = 0.0f;
                    if(sscanf(param, "%f", &num) && num >=0.001)
                    {
                        GlobalParam::_MaxFeaturePercent = num;
                        i++;
                    }
                    break;
                }
            case MAKEINT3(t, c, 2): //downward
            case MAKEINT3(t, c, 3):
            case MAKEINT2(t, c):  //tc
            case MAKEINT3(t, c, 1):  //
                {
                    switch (opti)
                    {
                        case MAKEINT3(t, c, 2): GlobalUtil::_TruncateMethod = 1; break;
                        case MAKEINT3(t, c, 3): GlobalUtil::_TruncateMethod = 2; break;
                        default:                GlobalUtil::_TruncateMethod = 0; break;
                    }
                    int num = -1;
                    if(sscanf(param, "%d", &num) && num > 0)
                    {
                        GlobalParam::_FeatureCountThreshold = num;
                        i++;
                    }
                    break;
                }
            case MAKEINT1(v):
                {
                    int num = 0;
                    if(sscanf(param, "%d", &num) && num >=0 && num <= 4)
                    {
                        SetVerbose(num);
                    }
                    break;
                }
            case MAKEINT4(m, a, x, d):
                {
                    int num = 0;
                    if(sscanf(param, "%d", &num) && num > 0)
                    {
                        GlobalUtil::_texMaxDim = num;
                        setMaxD = 1;
                    }
                    break;
                }
           case MAKEINT4(m, i, n, d):
                {
                    int num = 0;
                    if(sscanf(param, "%d", &num) && num >= 8)
                    {
                        GlobalUtil::_texMinDim = num;
                    }
                    break;
                }
            default:
                break;
            }
            break;
        }
	}

	////////////////////////
	GlobalUtil::SelectDisplay();


	//do not write result if there are more than one input images
	if(_outpath[0] && _list->size()>1)		_outpath[0] = 0;

}

void SiftGPU::SetImageList(int nimage, const char** filelist)
{
	_list->resize(0);
	for(int i = 0; i < nimage; i++)
	{
		_list->push_back(filelist[i]);
	}
	_current = 0;

}
void SiftGPU:: LoadImageList(const char *imlist)
{
	char filename[_MAX_PATH];
	ifstream in(imlist);
	while(in>>filename)
	{
		_list->push_back(filename);
	}
	in.close();


	if(_list->size()>0)
	{
		strcpy(_imgpath, _list->at(0).data());
		strcpy(filename, imlist);
		char * slash = strrchr(filename, '\\');
		if(slash == 0) slash = strrchr(filename, '/');
		if(slash )
		{
			slash[1] = 0;
			chdir(filename);
		}
	}
	_image_loaded = 0;


}
float SiftParam::GetLevelSigma( int lev)
{
	return _sigma0 * powf( 2.0f,  float(lev) / float(_dog_level_num )); //bug fix 9/12/2007
}



void SiftGPUEX::DisplayFeatureBox(int view )
{
	view = view%3;
	if(view<0)view+=3;
	if(view ==2) return;
	int idx = 0;
	const int *fnum = _pyramid->GetLevelFeatureNum();
	const GLuint *vbo = _pyramid->GetFeatureDipslayVBO();
	const GLuint *vbop = _pyramid->GetPointDisplayVBO();
	if(vbo == NULL || vbop == NULL) return;
	//int  nvbo = _dog_level_num * _pyramid->_octave_num;
	glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
	glEnableClientState(GL_VERTEX_ARRAY);
	glPushMatrix();
//	glTranslatef(0.0f, 0.0f, -1.0f);
	glPointSize(2.0f);

	float scale = 1.0f;
	if(_pyramid->_octave_min >0) scale *= (1<<_pyramid->_octave_min);
	else if(_pyramid->_octave_min < 0) scale /= (1<<(-_pyramid->_octave_min));
	glScalef(scale, scale, 1.0f);


	for(int i = 0; i < _pyramid->_octave_num; i++)
	{

		for(int j = 0; j < _dog_level_num; j++, idx++)
		{
			if(fnum[idx]>0)
			{
				if(view ==0)
				{
					glColor3f(0.2f, 1.0f, 0.2f);
					glBindBuffer(GL_ARRAY_BUFFER_ARB, vbop[idx]);
					glVertexPointer( 4, GL_FLOAT,4*sizeof(float), (char *) 0);
					glDrawArrays( GL_POINTS, 0, fnum[idx]);
					glFlush();
				}else
				{

					//glColor3f(1.0f, 0.0f, 0.0f);
					glColor3fv(_colors+ (idx%COLOR_NUM)*3);
					glBindBuffer(GL_ARRAY_BUFFER_ARB, vbo[idx]);
					glVertexPointer( 4, GL_FLOAT,4*sizeof(float), (char *) 0);
					glDrawArrays( GL_LINES, 0, fnum[idx]*10 );
					glFlush();
				}

			}

		}
		glTranslatef(-.5f, -.5f, 0.0f);
		glScalef(2.0f, 2.0f, 1.0f);

	}
	glPopMatrix();
	glDisableClientState(GL_VERTEX_ARRAY);
	glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
	glPointSize(1.0f);

}

void SiftGPUEX::ToggleDisplayDebug()
{
	_view_debug = !_view_debug;
}

void SiftGPUEX::DisplayDebug()
{
	glPointSize(1.0f);
	glColor3f(1.0f, 0.0f, 0.0f);
	ShaderMan::UseShaderDebug();
	glBegin(GL_POINTS);
	for(int i = 0; i < 100; i++)
	{
		glVertex2f(i*4.0f+0.5f, i*4.0f+0.5f);
	}
	glEnd();
	ShaderMan::UnloadProgram();
}

int SiftGPU::CreateContextGL()
{
    if(GlobalUtil::_UseOpenCL || GlobalUtil::_UseCUDA)
    {
        //do nothing
    }
    else if(!GlobalUtil::CreateWindowEZ())
    {
#if CUDA_SIFTGPU_ENABLED
		GlobalUtil::_UseCUDA = 1;
#else
        return 0;
#endif
    }

	return VerifyContextGL();
}

int SiftGPU::VerifyContextGL()
{
	InitSiftGPU();
	return (GlobalUtil::_GoodOpenGL > 0) + GlobalUtil::_FullSupported;
}

int SiftGPU::IsFullSupported()
{
	return GlobalUtil::_GoodOpenGL > 0 &&  GlobalUtil::_FullSupported;
}

void SiftGPU::SaveSIFT(const char * szFileName)
{
	_pyramid->SaveSIFT(szFileName);
}

int SiftGPU::GetFeatureNum()
{
	return _pyramid->GetFeatureNum();
}

void SiftGPU::GetFeatureVector(SiftKeypoint * keys, float * descriptors)
{
//	keys.resize(_pyramid->GetFeatureNum());
	if(GlobalUtil::_DescriptorPPT)
	{
	//	descriptors.resize(128*_pyramid->GetFeatureNum());
		_pyramid->CopyFeatureVector((float*) (&keys[0]), &descriptors[0]);
	}else
	{
		//descriptors.resize(0);
		_pyramid->CopyFeatureVector((float*) (&keys[0]), NULL);
	}
}

void SiftGPU::SetTightPyramid(int tight)
{
	GlobalUtil::_ForceTightPyramid = tight;
}

int SiftGPU::AllocatePyramid(int width, int height)
{
	_pyramid->_down_sample_factor = 0;
	_pyramid->_octave_min = GlobalUtil::_octave_min_default;
	if(GlobalUtil::_octave_min_default>=0)
	{
		width >>= GlobalUtil::_octave_min_default;
		height >>= GlobalUtil::_octave_min_default;
	}else
	{
		width <<= (-GlobalUtil::_octave_min_default);
		height <<= (-GlobalUtil::_octave_min_default);
	}
	_pyramid->ResizePyramid(width, height);
	return _pyramid->_pyramid_height == height && width == _pyramid->_pyramid_width ;
}

void SiftGPU::SetMaxDimension(int sz)
{
	if(sz < GlobalUtil::_texMaxDimGL)
	{
		GlobalUtil::_texMaxDim = sz;
	}
}

int SiftGPU::GetFeatureCountThreshold()
{
  return GlobalParam::_FeatureCountThreshold;
}

int SiftGPU::GetMaxOrientation()
{
  return GlobalParam::_MaxOrientation;
}

int SiftGPU::GetMaxDimension()
{
  return GlobalUtil::_texMaxDim;
}

int SiftGPU::GetImageCount()
{
	return _list->size();
}

void SiftGPUEX::HSVtoRGB(float hsv[3],float rgb[3] )
{

	int i;
	float q, t, p;
	float hh,f, v = hsv[2];
	if(hsv[1]==0.0f)
	{
		rgb[0]=rgb[1]=rgb[2]=v;
	}
	else
	{
		//////////////
		hh =hsv[0]*6.0f ;   // sector 0 to 5
		i =(int)hh ;
		f = hh- i;   // factorial part of h
		//////////
		p=  v * ( 1 - hsv[1] );
		q = v * ( 1 - hsv[1] * f );
		t = v * ( 1 - hsv[1] * ( 1 - f ) );
		switch( i ) {
			case 0:rgb[0] = v;rgb[1] = t;rgb[2] = p;break;
			case 1:rgb[0] = q;rgb[1] = v;rgb[2] = p;break;
			case 2:rgb[0] = p;rgb[1] = v;rgb[2] = t;break;
			case 3:rgb[0] = p;rgb[1] = q;rgb[2] = v;break;
			case 4:rgb[0] = t;rgb[1] = p;rgb[2] = v;break;
			case 5:rgb[0] = v;rgb[1] = p;rgb[2] = q;break;
			default:rgb[0]= 0;rgb[1] = 0;rgb[2] = 0;
		}
	}
}

void SiftGPUEX::GetImageDimension( int &w,  int &h)
{
	w = _texImage->GetImgWidth();
	h = _texImage->GetImgHeight();

}

void SiftGPUEX::GetInitWindowPotition(int&x, int&y)
{
	x = GlobalUtil::_WindowInitX;
	y = GlobalUtil::_WindowInitY;
}

SiftGPU* CreateNewSiftGPU(int np)
{
	return new SiftGPU(np);
}

/////////////////////////////////////////////////////

ComboSiftGPU* CreateComboSiftGPU()
{
	return new ComboSiftGPU();
}