int main()
{
#ifdef SIFTGPU_DLL_RUNTIME
#ifdef _WIN32
#ifdef _DEBUG
HMODULE hsiftgpu = LoadLibrary("siftgpu_d.dll");
#else
HMODULE hsiftgpu = LoadLibrary("siftgpu.dll");
#endif
#else
void * hsiftgpu = dlopen("libsiftgpu.so", RTLD_LAZY);
#endif
if(hsiftgpu == NULL) return 0;
#ifdef REMOTE_SIFTGPU
ComboSiftGPU* (*pCreateRemoteSiftGPU) (int, char*) = NULL;
pCreateRemoteSiftGPU = (ComboSiftGPU* (*) (int, char*)) GET_MYPROC(hsiftgpu, "CreateRemoteSiftGPU");
ComboSiftGPU * combo = pCreateRemoteSiftGPU(REMOTE_SERVER_PORT, REMOTE_SERVER);
SiftGPU* sift = combo;
SiftMatchGPU* matcher = combo;
#else
SiftGPU* (*pCreateNewSiftGPU)(int) = NULL;
SiftMatchGPU* (*pCreateNewSiftMatchGPU)(int) = NULL;
pCreateNewSiftGPU = (SiftGPU* (*) (int)) GET_MYPROC(hsiftgpu, "CreateNewSiftGPU");
pCreateNewSiftMatchGPU = (SiftMatchGPU* (*)(int)) GET_MYPROC(hsiftgpu, "CreateNewSiftMatchGPU");
SiftGPU* sift = pCreateNewSiftGPU(1);
SiftMatchGPU* matcher = pCreateNewSiftMatchGPU(4096);
#endif
#elif defined(REMOTE_SIFTGPU)
ComboSiftGPU * combo = CreateRemoteSiftGPU(REMOTE_SERVER_PORT, REMOTE_SERVER);
SiftGPU* sift = combo;
SiftMatchGPU* matcher = combo;
#else
//this will use overloaded new operators
SiftGPU *sift = new SiftGPU;
SiftMatchGPU *matcher = new SiftMatchGPU(4096);
#endif
vector<float > descriptors1(1), descriptors2(1);
vector<SiftGPU::SiftKeypoint> keys1(1), keys2(1);
int num1 = 0, num2 = 0;
//process parameters
//The following parameters are default in V340
//-m, up to 2 orientations for each feature (change to single orientation by using -m 1)
//-s enable subpixel subscale (disable by using -s 0)
char * argv[] = {"-fo", "-1", "-v", "1"};//
//-fo -1 staring from -1 octave
//-v 1 only print out # feature and overall time
//-loweo add a (.5, .5) offset
//-tc <num> set a soft limit to number of detected features
//NEW: parameters for GPU-selection
//1. CUDA. Use parameter "-cuda", "[device_id]"
//2. OpenGL. Use "-Display", "display_name" to select monitor/GPU (XLIB/GLUT)
// on windows the display name would be something like \\.\DISPLAY4
//////////////////////////////////////////////////////////////////////////////////////
//You use CUDA for nVidia graphic cards by specifying
//-cuda : cuda implementation (fastest for smaller images)
// CUDA-implementation allows you to create multiple instances for multiple threads
// Checkout src\TestWin\MultiThreadSIFT
/////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////
////////////////////////Two Important Parameters///////////////////////////
// First, texture reallocation happens when image size increases, and too many
// reallocation may lead to allocatoin failure. You should be careful when using
// siftgpu on a set of images with VARYING imag sizes. It is recommended that you
// preset the allocation size to the largest width and largest height by using function
// AllocationPyramid or prameter '-p' (e.g. "-p", "1024x768").
// Second, there is a parameter you may not be aware of: the allowed maximum working
// dimension. All the SIFT octaves that needs a larger texture size will be skipped.
// The default prameter is 2560 for the unpacked implementation and 3200 for the packed.
// Those two default parameter is tuned to for 768MB of graphic memory. You should adjust
// it for your own GPU memory. You can also use this to keep/skip the small featuers.
// To change this, call function SetMaxDimension or use parameter "-maxd".
//
// NEW: by default SiftGPU will try to fit the cap of GPU memory, and reduce the working
// dimension so as to not allocate too much. This feature can be disabled by -nomc
//////////////////////////////////////////////////////////////////////////////////////
int argc = sizeof(argv)/sizeof(char*);
sift->ParseParam(argc, argv);
///////////////////////////////////////////////////////////////////////
//Only the following parameters can be changed after initialization (by calling ParseParam).
//-dw, -ofix, -ofix-not, -fo, -unn, -maxd, -b
//to change other parameters at runtime, you need to first unload the dynamically loaded libaray
//reload the libarary, then create a new siftgpu instance
//Create a context for computation, and SiftGPU will be initialized automatically
//The same context can be used by SiftMatchGPU
if(sift->CreateContextGL() != SiftGPU::SIFTGPU_FULL_SUPPORTED) return 0;
if(sift->RunSIFT("../data/800-1.jpg"))
{
//Call SaveSIFT to save result to file, the format is the same as Lowe's
//sift->SaveSIFT("../data/800-1.sift"); //Note that saving ASCII format is slow
//get feature count
num1 = sift->GetFeatureNum();
//allocate memory
keys1.resize(num1); descriptors1.resize(128*num1);
//reading back feature vectors is faster than writing files
//if you dont need keys or descriptors, just put NULLs here
sift->GetFeatureVector(&keys1[0], &descriptors1[0]);
//this can be used to write your own sift file.
}
//You can have at most one OpenGL-based SiftGPU (per process).
//Normally, you should just create one, and reuse on all images.
if(sift->RunSIFT("../data/640-1.jpg"))
{
num2 = sift->GetFeatureNum();
keys2.resize(num2); descriptors2.resize(128*num2);
sift->GetFeatureVector(&keys2[0], &descriptors2[0]);
}
//Testing code to check how it works when image size varies
//sift->RunSIFT("../data/256.jpg");sift->SaveSIFT("../data/256.sift.1");
//sift->RunSIFT("../data/1024.jpg"); //this will result in pyramid reallocation
//sift->RunSIFT("../data/256.jpg"); sift->SaveSIFT("../data/256.sift.2");
//two sets of features for 256.jpg may have different order due to implementation
//*************************************************************************
/////compute descriptors for user-specified keypoints (with or without orientations)
//Method1, set new keypoints for the image you've just processed with siftgpu
//say vector<SiftGPU::SiftKeypoint> mykeys;
//sift->RunSIFT(mykeys.size(), &mykeys[0]);
//sift->RunSIFT(num2, &keys2[0], 1); sift->SaveSIFT("../data/640-1.sift.2");
//sift->RunSIFT(num2, &keys2[0], 0); sift->SaveSIFT("../data/640-1.sift.3");
//Method2, set keypoints for the next coming image
//The difference of with method 1 is that method 1 skips gaussian filtering
//SiftGPU::SiftKeypoint mykeys[100];
//for(int i = 0; i < 100; ++i){
// mykeys[i].s = 1.0f;mykeys[i].o = 0.0f;
// mykeys[i].x = (i%10)*10.0f+50.0f;
// mykeys[i].y = (i/10)*10.0f+50.0f;
//}
//sift->SetKeypointList(100, mykeys, 0);
//sift->RunSIFT("../data/800-1.jpg"); sift->SaveSIFT("../data/800-1.sift.2");
//### for comparing with method1:
//sift->RunSIFT("../data/800-1.jpg");
//sift->RunSIFT(100, mykeys, 0); sift->SaveSIFT("../data/800-1.sift.3");
//*********************************************************************************
//**********************GPU SIFT MATCHING*********************************
//**************************select shader language*************************
//SiftMatchGPU will use the same shader lanaguage as SiftGPU by default
//Before initialization, you can choose between glsl, and CUDA(if compiled).
//matcher->SetLanguage(SiftMatchGPU::SIFTMATCH_CUDA); // +i for the (i+1)-th device
//Verify current OpenGL Context and initialize the Matcher;
//If you don't have an OpenGL Context, call matcher->CreateContextGL instead;
matcher->VerifyContextGL(); //must call once
//Set descriptors to match, the first argument must be either 0 or 1
//if you want to use more than 4096 or less than 4096
//call matcher->SetMaxSift() to change the limit before calling setdescriptor
matcher->SetDescriptors(0, num1, &descriptors1[0]); //image 1
matcher->SetDescriptors(1, num2, &descriptors2[0]); //image 2
//match and get result.
int (*match_buf)[2] = new int[num1][2];
//use the default thresholds. Check the declaration in SiftGPU.h
int num_match = matcher->GetSiftMatch(num1, match_buf);
std::cout << num_match << " sift matches were found;\n";
//enumerate all the feature matches
for(int i = 0; i < num_match; ++i)
{
//How to get the feature matches:
//SiftGPU::SiftKeypoint & key1 = keys1[match_buf[i][0]];
//SiftGPU::SiftKeypoint & key2 = keys2[match_buf[i][1]];
//key1 in the first image matches with key2 in the second image
}
//*****************GPU Guided SIFT MATCHING***************
//example: define a homography, and use default threshold 32 to search in a 64x64 window
//float h[3][3] = {{0.8f, 0, 0}, {0, 0.8f, 0}, {0, 0, 1.0f}};
//matcher->SetFeatureLocation(0, &keys1[0]); //SetFeatureLocaiton after SetDescriptors
//matcher->SetFeatureLocation(1, &keys2[0]);
//num_match = matcher->GetGuidedSiftMatch(num1, match_buf, h, NULL);
//std::cout << num_match << " guided sift matches were found;\n";
//if you can want to use a Fundamental matrix, check the function definition
// clean up..
delete[] match_buf;
#ifdef REMOTE_SIFTGPU
delete combo;
#else
delete sift;
delete matcher;
#endif
#ifdef SIFTGPU_DLL_RUNTIME
FREE_MYLIB(hsiftgpu);
#endif
return 1;
}
///
/// \brief PairwiseMatching:do a pairwise matching between two image(sift) files, and save the match info in the .mat file.
/// This includes a putative match function provided by SiftGPU and a guided match (using fundamental
/// matrix and homography)
/// \param match_filename: the name of the output match file. This is mainly used by transction-style saving
/// \param first_sift: the sift data of the first sift file
/// \param second_sift: the sift data of the second sift file
/// \return
///
bool PairwiseMatching(const std::string &match_filename,
const std::string &first_sift_filename, const std::string &second_sift_filename,
tw::SiftData &first_sift, tw::SiftData &second_sift,
SiftMatchGPU &matcher, MatchParam const & match_param,
FILE * match_fd, zeta::TransactionLog<FILE *> & tlog)
{
// write to the .mat file points correspondence and inlier information
if(tlog.isReady())
{
{
std::string transaction_name = "match_info" + first_sift_filename + "&" + second_sift_filename;
zeta::Transaction<FILE *> transaction_filename(tlog, transaction_name);
if(!transaction_filename.exist())
{
const int max_sift = 32768;
int match_buf[max_sift][2];
// set feature location and descriptors, this is needed by SiftGPU
matcher.SetDescriptors(0, first_sift.getFeatureNum(), first_sift.getDesPointer());
//matcher.SetFeatureLocation(0, first_sift.getLocPointer(), 3);
matcher.SetDescriptors(1, second_sift.getFeatureNum(), second_sift.getDesPointer());
//matcher.SetFeatureLocation(1, second_sift.getLocPointer(), 3);
// get putative match and store the match result in match_buf
int nmatch = matcher.GetSiftMatch(max_sift, match_buf);
zeta::notify(zeta::Notify::Debug) << nmatch << " matches";
if(nmatch < match_param.min_num_inlier) return true;
// ransac fundamental matrix
tw::FundamentalMatrixModel fundamental_model(match_buf, nmatch,
first_sift.getFeatureNum(), second_sift.getFeatureNum(),
first_sift.getLocPointer(), second_sift.getLocPointer(),
first_sift.getLocDim(), match_param.f_error0, match_param.f_error1);
zeta::RANSACNaiveSampler fundamental_sampler(match_param.f_ransac_conf, match_param.f_ransac_ratio, 8, nmatch, 0);
typedef zeta::RANSAC<tw::FundamentalMatrixModel, zeta::RANSACNaiveSampler> RANSACFundamental;
RANSACFundamental ransac_fundamental;
RANSACFundamental::Param fundamental_param(match_param.thread_num);
std::vector<bool> fundamental_inlier_flags;
int fundamental_inlier_num = ransac_fundamental(fundamental_sampler, fundamental_model, fundamental_inlier_flags, fundamental_param);
double f_inlier_ratio = (double)fundamental_inlier_num / (double)nmatch;
zeta::notify(zeta::Notify::Debug) << ", F[" << fundamental_inlier_num << "/" << nmatch << "]";
// ransac homography
tw::HomographyModel homography_model(match_buf, nmatch,
first_sift.getFeatureNum(), second_sift.getFeatureNum(),
first_sift.getLocPointer(), second_sift.getLocPointer(),
first_sift.getLocDim(), match_param.h_error1);
zeta::RANSACNaiveSampler homography_sampler(match_param.h_ransac_conf, match_param.h_ransac_ratio, 4, nmatch, 0);
typedef zeta::RANSAC<tw::HomographyModel, zeta::RANSACNaiveSampler> RANSACHomography;
RANSACHomography homography_ransac;
RANSACHomography::Param homography_param(match_param.thread_num);
std::vector<bool> homography_inlier_flags;
int homography_inlier_num = homography_ransac(homography_sampler, homography_model, homography_inlier_flags, homography_param);
double h_inlier_ratio = (double)homography_inlier_num / (double)nmatch;
zeta::notify(zeta::Notify::Debug) << ", H[" << homography_inlier_num << "/" << nmatch << "]";
if((f_inlier_ratio < match_param.min_f_inlier_ratio || fundamental_inlier_num < match_param.min_f_inlier)
&& (h_inlier_ratio < match_param.min_h_inlier_ratio || homography_inlier_num < match_param.min_h_inlier))
return true;
tw::SiftMatchPair sift_match(match_buf, nmatch,
homography_inlier_flags, fundamental_inlier_flags,
first_sift_filename, second_sift_filename,
homography_model.getHomography(), fundamental_model.getFundmantalMatrix(),
homography_inlier_num, fundamental_inlier_num);
sift_match.WriteSiftMatchPair(match_fd);
}
else
{
zeta::notify(zeta::Notify::Debug) << "existed and skip";
return false;
}
}
}
else
{
zeta::notify(zeta::Notify::Error) << "Transaction log is not ready\n";
}
return true;
}
inline void ServerSiftGPU::ServerLoop(int port, int argc, char** argv)
{
SOCKET sockfd, newsockfd;
struct sockaddr_in serv_addr, cli_addr;
socklen_t addr_len = sizeof(sockaddr_in);
//////////////////////////////////////////////////
memset((char*)&serv_addr, 0, sizeof(serv_addr));
serv_addr.sin_family = AF_INET;
serv_addr.sin_port = htons(port);
serv_addr.sin_addr.s_addr = INADDR_ANY;
/////////////////////////////////////////////
if(ServerSiftGPU::InitSocket() == 0)
{
return;
}
//////////////////////////////////////////////////////////////
sockfd=socket(AF_INET,SOCK_STREAM,0);
if(sockfd==INVALID_SOCKET)
{
std::cout << "server: can't open stream socket\n";
return;
}else if(bind(sockfd,(struct sockaddr*)&serv_addr, sizeof(serv_addr)))
{
std::cout << "server: can't bind to port " << port <<"\n";
return;
}else if(listen(sockfd, 1))
{
std::cout << "server: failed to listen\n";
return;
}else
{
std::cout << "server: listent to port "<< port << "\n";
}
newsockfd = accept(sockfd, (struct sockaddr*) &cli_addr, &addr_len);
if(newsockfd == INVALID_SOCKET)
{
std::cout << "error: accept failed\n";
closesocket(sockfd);
return;
}
////////////////////////////////////////////////////////////////
char buf[1024];
int command, result;
int sift_feature_count = 0;;
vector<SiftGPU::SiftKeypoint> keys;
vector<float> descriptors;
vector<char> databuf;
/////////////////////////////////////////////////////////////////
SiftGPU siftgpu;
SiftMatchGPU matcher;
if(argc > 0) siftgpu.ParseParam(argc, argv);
/////////////////////
siftgpu.SetVerbose(0);
/////////////////////////////////////////////////////////////////
do
{
while(SocketUtil::readint(newsockfd, &command) && command != COMMAND_DISCONNECT)
{
switch(command)
{
case COMMAND_INITIALIZE:
{
result = (siftgpu.CreateContextGL() == SiftGPU::SIFTGPU_FULL_SUPPORTED);
SocketUtil::writeint(newsockfd, result);
if(result) break;
}
case COMMAND_EXIT:
closesocket(newsockfd);
closesocket(sockfd);
return;
case COMMAND_ALLOCATE_PYRAMID:
{
int size[2];
SocketUtil::readint(newsockfd, size, 2);
if(size[0] > 0 && size[1] > 0) siftgpu.AllocatePyramid(size[0], size[1]);
break;
}
case COMMAND_GET_KEY_VECTOR:
{
int size = sift_feature_count * sizeof(SiftGPU::SiftKeypoint);
SocketUtil::writedata(newsockfd, &keys[0], size);
break;
}
case COMMAND_GET_DES_VECTOR:
{
int size = sift_feature_count * sizeof(float) * 128;
SocketUtil::writedata(newsockfd, &descriptors[0], size);
break;
}
case COMMAND_RUNSIFT:
{
result = siftgpu.RunSIFT();
if((sift_feature_count = siftgpu.GetFeatureNum()) > 0)
{
keys.resize(sift_feature_count);
descriptors.resize(sift_feature_count * 128);
siftgpu.GetFeatureVector(&keys[0], &descriptors[0]);
std::cout << "RunSIFT: [-] [" << sift_feature_count << "]\n";
}
SocketUtil::writeint(newsockfd, result);
break;
}
case COMMAND_RUNSIFT_FILE:
{
SocketUtil::readline(newsockfd, buf, 1024);
result = siftgpu.RunSIFT(buf);
if((sift_feature_count = siftgpu.GetFeatureNum()) > 0)
{
keys.resize(sift_feature_count);
descriptors.resize(sift_feature_count * 128);
siftgpu.GetFeatureVector(&keys[0], &descriptors[0]);
}
std::cout << "RunSIFT: "<< buf <<" " << sift_feature_count << "\n" ;
SocketUtil::writeint(newsockfd, result);
break;
}
case COMMAND_SET_KEYPOINT:
{
int keys_have_orientation;
SocketUtil::readint(newsockfd, &sift_feature_count);
SocketUtil::readint(newsockfd, &keys_have_orientation);
if(sift_feature_count > 0)
{
keys.resize(sift_feature_count);
descriptors.resize(sift_feature_count * 128);
SocketUtil::readdata(newsockfd, &keys[0], int(keys.size() * sizeof(SiftGPU::SiftKeypoint)));
siftgpu.SetKeypointList(sift_feature_count, &keys[0], keys_have_orientation);
}
break;
}
case COMMAND_RUNSIFT_KEY:
{
int keys_have_orientation;
SocketUtil::readint(newsockfd, &sift_feature_count);
SocketUtil::readint(newsockfd, &keys_have_orientation);
if(sift_feature_count > 0)
{
std::cout << "RunSIFT: "<< sift_feature_count << " KEYPOINTS\n" ;
int key_data_size = sift_feature_count * sizeof(SiftGPU::SiftKeypoint);
keys.resize(sift_feature_count);
descriptors.resize(sift_feature_count * 128);
SocketUtil::readdata(newsockfd, &keys[0], key_data_size);
result = siftgpu.RunSIFT(sift_feature_count, &keys[0], keys_have_orientation);
siftgpu.GetFeatureVector(NULL, &descriptors[0]);
}else
{
result = 0;
}
SocketUtil::writeint(newsockfd, result);
break;
}
case COMMAND_RUNSIFT_DATA:
{
int data_des[4], size = 0;
SocketUtil::readint(newsockfd, data_des, 4);
SocketUtil::readint(newsockfd, &size, 1);
std::cout << "RunSIFT: [" << data_des[0] << "x" << data_des[1] << "]";
databuf.resize(size);
void* data_ptr = &databuf[0];
SocketUtil::readdata(newsockfd, data_ptr, size);
result = siftgpu.RunSIFT(data_des[0], data_des[1], data_ptr, data_des[2], data_des[3]);
if((sift_feature_count = siftgpu.GetFeatureNum()) > 0)
{
keys.resize(sift_feature_count);
descriptors.resize(sift_feature_count * 128);
siftgpu.GetFeatureVector(&keys[0], &descriptors[0]);
}
std::cout << "[" << sift_feature_count << "]\n";
SocketUtil::writeint(newsockfd, result);
break;
}
case COMMAND_SAVE_SIFT:
{
SocketUtil::readline(newsockfd, buf, 1024);
siftgpu.SaveSIFT(buf);
break;
}
case COMMAND_SET_MAX_DIMENSION:
{
int maxd;
if(SocketUtil::readint(newsockfd, &maxd) && maxd > 0) siftgpu.SetMaxDimension(maxd);
break;
}
case COMMAND_SET_TIGHTPYRAMID:
{
int tight;
if(SocketUtil::readint(newsockfd, &tight)) siftgpu.SetTightPyramid(tight);
break;
}
case COMMAND_GET_FEATURE_COUNT:
{
SocketUtil::writeint(newsockfd, sift_feature_count);
break;
}
case COMMAND_PARSE_PARAM:
{
SocketUtil::readline(newsockfd, buf, 1024);
std::cout << "ParseParam [" << buf << "]\n";
vector<char*> params;
char* p = buf;
while(*p)
{
while(*p == ' ' || *p == '\t')*p++ = 0;
params.push_back(p);
while(*p && *p != ' ' && *p != '\t') p++;
}
siftgpu.ParseParam(params.size(), ¶ms[0]);
break;
}
case COMMAND_MATCH_INITIALIZE:
{
result = matcher.CreateContextGL();
SocketUtil::writeint(newsockfd, result);
break;
}
case COMMAND_MATCH_SET_LANGUAGE:
{
int language;
if(SocketUtil::readint(newsockfd, &language)) matcher.SetLanguage(language);
break;
}
case COMMAND_MATCH_SET_DES_FLOAT:
{
int command[3] = {0, 0, 0};
if(SocketUtil::readdata(newsockfd, command, sizeof(command)))
{
databuf.resize(sizeof(float) * 128 * command[1]);
if(SocketUtil::readdata(newsockfd, &databuf[0], databuf.size()))
{
matcher.SetDescriptors(command[0], command[1], (float*) (&databuf[0]), command[2]);
}
}
break;
}
case COMMAND_MATCH_SET_DES_BYTE:
{
int command[3] = {0, 0, 0};
if(SocketUtil::readdata(newsockfd, command, sizeof(command)))
{
databuf.resize(sizeof(unsigned char) * 128 * command[1]);
if(SocketUtil::readdata(newsockfd, &databuf[0], databuf.size()))
{
matcher.SetDescriptors(command[0], command[1], (unsigned char*) (&databuf[0]), command[2]);
}
}
break;
}
case COMMAND_MATCH_GET_MATCH:
{
int command[2]; float fcommand[2];
result = 0;
if( SocketUtil::readdata(newsockfd, command, sizeof(command)) &&
SocketUtil::readdata(newsockfd, fcommand, sizeof(fcommand)))
{
int max_match = command[0], mbm = command[1];
float distmax = fcommand[0], ratiomax = fcommand[1];
databuf.resize(max_match * 2 * sizeof(int));
result = matcher.GetSiftMatch(max_match, ( int(*)[2]) (&databuf[0]), distmax, ratiomax, mbm);
}
SocketUtil::writeint(newsockfd, result);
if(result > 0) SocketUtil::writedata(newsockfd, &databuf[0], sizeof(int) * 2 * result);
std::cout << "SiftMatch: " << result << "\n";
break;
}
case COMMAND_MATCH_SET_MAXSIFT:
{
int max_sift;
if(SocketUtil::readint(newsockfd, &max_sift)) matcher.SetMaxSift(max_sift);
break;
}
break;
default:
std::cout << "unrecognized command: " << command << "\n";
break;
}
}
//client disconneted
closesocket(newsockfd);
//wait for the next client.
std::cout << "wait for new client...";
newsockfd = accept(sockfd, (struct sockaddr*) &cli_addr, &addr_len);
if(newsockfd == INVALID_SOCKET)
{
std::cout << "error: accept failed";
closesocket(sockfd);
return;
}else
{
std::cout << "connected\n\n";
}
}while(1);
}