alicevision · griwodz · Oct 16, 2020 · Oct 16, 2020 · Oct 16, 2020 · Oct 16, 2020
diff --git a/CHANGES.md b/CHANGES.md
@@ -24,10 +24,15 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Support for Cuda CC 7 cards (RTX 2080) [PR](https://github.com/alicevision/popsift/pull/67)
 - Support for Boost 1.70 [PR](https://github.com/alicevision/popsift/pull/65)
 - Support for device selection and multiple GPUs [PR](https://github.com/alicevision/popsift/pull/121)
+- Test: adding descriptor comparator [PR](https://github.com/alicevision/popsift/pull/133)
+- Support descriptor computation compliant with VLFeat [PR](https://github.com/alicevision/popsift/pull/133)
+- Support for ignoring Edge and Peak Thresholds [PR](https://github.com/alicevision/popsift/pull/133)
+- Support for grid filtering on CUDA Managed Memory and sorting initial extrema on the CPU side [PR](https://github.com/alicevision/popsift/pull/133)
 
 ### Fixed
 - CMake: fixes to allow building on Windows using vcpkg [PR](https://github.com/alicevision/popsift/pull/92)
 - Fix race condition [PR](https://github.com/alicevision/popsift/pull/82)
+- Fixed a bug in L2 normalization [PR](https://github.com/alicevision/popsift/pull/133)
 
 ### Changed
 - Improved resource releasing [PR](https://github.com/alicevision/popsift/pull/71)

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -145,6 +145,8 @@ if(MSVC)
   list(APPEND CUDA_NVCC_FLAGS   -Xcompiler ${PopSift_MVSC_LINKER})
 endif()
 
+list(APPEND CUDA_NVCC_FLAGS "-lineinfo")
+
 # default stream per-thread implies that each host thread has one non-synchronizing 0-stream
 # currently, the code requires legacy mode
 list(APPEND CUDA_NVCC_FLAGS "--default-stream;legacy")
@@ -181,9 +183,11 @@ else()
 endif()
 
 if(CUDA_VERSION VERSION_GREATER_EQUAL "9.0")
-  set(HAVE_SHFL_DOWN_SYNC   1)
+  set(PopSift_HAVE_SHFL_DOWN_SYNC   1)
+  set(PopSift_HAVE_COOPERATIVE_GROUPS   1)
 else()
-  set(HAVE_SHFL_DOWN_SYNC   0)
+  set(PopSift_HAVE_SHFL_DOWN_SYNC   0)
+  set(PopSift_HAVE_COOPERATIVE_GROUPS   0)
 endif()
 
 if(NOT PopSift_USE_GRID_FILTER)

diff --git a/cmake/sift_config.h.in b/cmake/sift_config.h.in
@@ -8,11 +8,13 @@
 
 #pragma once
 
-#define POPSIFT_IS_DEFINED(F) F() == 1
+#define POPSIFT_IS_DEFINED(F)   F() == 1
+#define POPSIFT_IS_UNDEFINED(F) F() == 0
 
-#define POPSIFT_HAVE_SHFL_DOWN_SYNC() @HAVE_SHFL_DOWN_SYNC@
-#define POPSIFT_HAVE_NORMF()          @PopSift_HAVE_NORMF@
-#define POPSIFT_DISABLE_GRID_FILTER() @DISABLE_GRID_FILTER@
-#define POPSIFT_USE_NVTX()            @PopSift_USE_NVTX@
+#define POPSIFT_HAVE_SHFL_DOWN_SYNC()     @PopSift_HAVE_SHFL_DOWN_SYNC@
+#define POPSIFT_HAVE_NORMF()              @PopSift_HAVE_NORMF@
+#define POPSIFT_DISABLE_GRID_FILTER()     @DISABLE_GRID_FILTER@
+#define POPSIFT_USE_NVTX()                @PopSift_USE_NVTX@
+#define POPSIFT_HAVE_COOPERATIVE_GROUPS() @PopSift_HAVE_COOPERATIVE_GROUPS@
 
 
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -5,6 +5,8 @@ CUDA_ADD_LIBRARY(popsift
         popsift/sift_constants.cu popsift/sift_constants.h
         popsift/sift_conf.cu popsift/sift_conf.h
         popsift/gauss_filter.cu popsift/gauss_filter.h
+        popsift/filtergrid.cu popsift/filtergrid.h
+        popsift/initial_extremum.h
         popsift/s_image.cu popsift/s_image.h
         popsift/sift_pyramid.cu popsift/sift_pyramid.h
         popsift/sift_octave.cu popsift/sift_octave.h
@@ -16,17 +18,18 @@ CUDA_ADD_LIBRARY(popsift
         popsift/sift_extremum.h
         popsift/sift_extremum.cu popsift/s_extrema.cu
         popsift/s_orientation.cu
-        popsift/s_filtergrid.cu
         popsift/sift_desc.cu
         popsift/s_desc_loop.cu popsift/s_desc_loop.h
         popsift/s_desc_iloop.cu popsift/s_desc_iloop.h
         popsift/s_desc_grid.cu popsift/s_desc_grid.h
         popsift/s_desc_igrid.cu popsift/s_desc_igrid.h
         popsift/s_desc_notile.cu popsift/s_desc_notile.h
+        popsift/s_desc_vlfeat.cu popsift/s_desc_vlfeat.h
         popsift/s_desc_norm_rs.h
         popsift/s_desc_norm_l2.h
         popsift/s_desc_normalize.h
         popsift/s_gradiant.h
+	popsift/s_gradiant_cuda9plus.h
         popsift/s_solve.h
         popsift/common/assist.cu popsift/common/assist.h
         popsift/common/clamp.h
@@ -149,3 +152,7 @@ if(PopSift_BUILD_EXAMPLES)
   add_subdirectory(application)
 endif()
 
+if(PopSift_USE_TEST_CMD)
+  add_subdirectory(compareSiftFiles)
+endif()
+
diff --git a/src/application/CMakeLists.txt b/src/application/CMakeLists.txt
@@ -68,7 +68,7 @@ endif(PopSift_USE_NVTX_PROFILING)
 # popsift-demo
 #############################################################
 
-add_executable(popsift-demo  main.cpp pgmread.cpp pgmread.h)
+add_executable(popsift-demo  main.cpp pgmread.cpp pgmread.h common_opt.cpp)
 
 set_property(TARGET popsift-demo PROPERTY CXX_STANDARD 11)
 
@@ -82,7 +82,7 @@ target_link_libraries(popsift-demo PUBLIC PopSift::popsift ${PD_LINK_LIBS})
 # popsift-match
 #############################################################
 
-add_executable(popsift-match match.cpp pgmread.cpp pgmread.h)
+add_executable(popsift-match match.cpp pgmread.cpp pgmread.h common_opt.cpp)
 
 set_property(TARGET popsift-match PROPERTY CXX_STANDARD 11)
 

diff --git a/src/application/common_opt.cpp b/src/application/common_opt.cpp
@@ -0,0 +1,111 @@
+/*
+ * Copyright 2021, University of Oslo
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#include "common_opt.h"
+
+// #include <popsift/common/device_prop.h>
+// #include <popsift/features.h>
+// #include <popsift/popsift.h>
+// #include <popsift/sift_config.h>
+// #include <popsift/version.hpp>
+
+// #include <boost/filesystem.hpp>
+
+// #include <cmath>
+// #include <cstdlib>
+// #include <fstream>
+// #include <iomanip>
+// #include <iostream>
+// #include <list>
+// #include <sstream>
+// #include <stdexcept>
+#include <string>
+
+using namespace std;
+using namespace boost::program_options;
+
+void option_init_parameters( popsift::Config& config, options_description& parameters )
+{
+    parameters.add_options()
+        ("octaves",
+         value<int>(&config.octaves)->default_value(config.getOctaves()),
+         "Number of octaves")
+        ("levels",
+         value<int>(&config.levels)->default_value(config.getLevels()),
+         "Number of levels per octave")
+        ("sigma",
+         value<float>()->notifier([&](float f) { config.setSigma(f); })->default_value(config.getSigma()),
+         "Initial sigma value")
+        ("threshold",
+         value<float>()->notifier([&](float f) { config.setThreshold(f); })->default_value(config.getThreshold()),
+         popsift::Config::getPeakThreshUsage().c_str() )
+        ("edge-threshold",
+         value<float>()->notifier([&](float f) { config.setEdgeLimit(f); })->default_value(config.getEdgeLimit()),
+         popsift::Config::getEdgeThreshUsage().c_str() )
+        ("edge-limit",
+         value<float>()->notifier([&](float f) { config.setEdgeLimit(f); }),
+         "synonym to --edge-threshold" )
+        ("downsampling",
+         value<float>()->notifier([&](float f) { config.setDownsampling(f); })->default_value(config.getDownsampling()),
+         "Downscale width and height of input by 2^N")
+        ("initial-blur",
+         value<float>()->notifier([&](float f) {config.setInitialBlur(f); })->default_value(config.getInitialBlur()),
+         "Assume initial blur, subtract when blurring first time");
+}
+
+void option_init_modes( popsift::Config& config, options_description& modes )
+{
+    modes.add_options()
+        ( "gauss-mode",
+          value<std::string>()->notifier([&](const std::string& s) { config.setGaussMode(s); }),
+          popsift::Config::getGaussModeUsage() )
+        // "Choice of span (1-sided) for Gauss filters. Default is VLFeat-like computation depending on sigma. "
+        // "Options are: vlfeat, relative, relative-all, opencv, fixed9, fixed15"
+        ( "desc-mode",
+          value<std::string>()->notifier([&](const std::string& s) { config.setDescMode(s); }),
+          popsift::Config::getDescModeUsage() )
+        ( "popsift-mode",
+          bool_switch()->notifier([&](bool b) { if(b) config.setMode(popsift::Config::PopSift); }),
+         "During the initial upscale, shift pixels by 1. In extrema refinement, steps up to 0.6, do not reject points when reaching max iterations, "
+         "first contrast threshold is .8 * peak thresh. Shift feature coords octave 0 back to original pos.")
+        ( "vlfeat-mode",
+          bool_switch()->notifier([&](bool b) { if(b) config.setMode(popsift::Config::VLFeat); }),
+          "During the initial upscale, shift pixels by 1. That creates a sharper upscaled image. "
+          "In extrema refinement, steps up to 0.6, levels remain unchanged, "
+          "do not reject points when reaching max iterations, "
+          "first contrast threshold is .8 * peak thresh.")
+        ( "opencv-mode",
+          bool_switch()->notifier([&](bool b) { if(b) config.setMode(popsift::Config::OpenCV); }),
+         "During the initial upscale, shift pixels by 0.5. "
+         "In extrema refinement, steps up to 0.5, "
+         "reject points when reaching max iterations, "
+         "first contrast threshold is floor(.5 * peak thresh). "
+         "Computed filter width are lower than VLFeat/PopSift")
+        ( "direct-scaling",
+          bool_switch()->notifier([&](bool b) { if(b) config.setScalingMode(popsift::Config::ScaleDirect); }),
+          "Direct each octave from upscaled orig instead of blurred level.")
+        ( "norm-multi",
+          value<int>()->notifier([&](int i) {config.setNormalizationMultiplier(i); }),
+          "Multiply the descriptor by pow(2,<int>).")
+        ( "norm-mode",
+          value<std::string>()->notifier([&](const std::string& s) { config.setNormMode(s); }),
+          popsift::Config::getNormModeUsage() )
+        ( "root-sift",
+          bool_switch()->notifier([&](bool b) { if(b) config.setNormMode(popsift::Config::RootSift); }),
+          "synonym to --norm-mode=RootSift" )
+        ( "filter-max-extrema",
+          value<int>()->notifier([&](int f) {config.setFilterMaxExtrema(f); }),
+          "Approximate max number of extrema.")
+        ( "filter-grid",
+          value<int>()->notifier([&](int f) {config.setFilterGridSize(f); }),
+          "Grid edge length for extrema filtering (ie. value 4 leads to a 4x4 grid)")
+        ( "filter-sort",
+          value<std::string>()->notifier([&](const std::string& s) {config.setFilterSorting(s); }),
+          popsift::Config::getFilterGridModeUsage() );
+
+}
+
diff --git a/src/application/common_opt.h b/src/application/common_opt.h
@@ -0,0 +1,18 @@
+/*
+ * Copyright 2021, University of Oslo
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include <boost/program_options.hpp>
+
+#include <popsift/sift_conf.h>
+
+void option_init_parameters( popsift::Config& config,
+                             boost::program_options::options_description& parameters );
+void option_init_modes( popsift::Config& config,
+                        boost::program_options::options_description& modes );
+
diff --git a/src/application/main.cpp b/src/application/main.cpp
@@ -29,6 +29,7 @@
 #include <devil_cpp_wrapper.hpp>
 #endif
 #include "pgmread.h"
+#include "common_opt.h"
 
 #if POPSIFT_IS_DEFINED(POPSIFT_USE_NVTX)
 #include <nvToolsExtCuda.h>
@@ -42,6 +43,7 @@ using namespace std;
 static bool print_dev_info  = false;
 static bool print_time_info = false;
 static bool write_as_uchar  = false;
+static bool write_with_ori  = false;
 static bool dont_write      = false;
 static bool pgmread_loading = false;
 static bool float_mode      = false;
@@ -59,57 +61,13 @@ static void parseargs(int argc, char** argv, popsift::Config& config, string& in
             ("input-file,i", value<std::string>(&inputFile)->required(), "Input file");
 
     }
+
     options_description parameters("Parameters");
-    {
-        parameters.add_options()
-            ("octaves", value<int>(&config.octaves), "Number of octaves")
-            ("levels", value<int>(&config.levels), "Number of levels per octave")
-            ("sigma", value<float>()->notifier([&](float f) { config.setSigma(f); }), "Initial sigma value")
-
-            ("threshold", value<float>()->notifier([&](float f) { config.setThreshold(f); }), "Contrast threshold")
-            ("edge-threshold", value<float>()->notifier([&](float f) { config.setEdgeLimit(f); }), "On-edge threshold")
-            ("edge-limit", value<float>()->notifier([&](float f) { config.setEdgeLimit(f); }), "On-edge threshold")
-            ("downsampling", value<float>()->notifier([&](float f) { config.setDownsampling(f); }), "Downscale width and height of input by 2^N")
-            ("initial-blur", value<float>()->notifier([&](float f) {config.setInitialBlur(f); }), "Assume initial blur, subtract when blurring first time");
-    }
     options_description modes("Modes");
-    {
-    modes.add_options()
-        ( "gauss-mode", value<std::string>()->notifier([&](const std::string& s) { config.setGaussMode(s); }),
-          popsift::Config::getGaussModeUsage() )
-        // "Choice of span (1-sided) for Gauss filters. Default is VLFeat-like computation depending on sigma. "
-        // "Options are: vlfeat, relative, relative-all, opencv, fixed9, fixed15"
-        ("desc-mode", value<std::string>()->notifier([&](const std::string& s) { config.setDescMode(s); }),
-        "Choice of descriptor extraction modes:\n"
-        "loop, iloop, grid, igrid, notile\n"
-	"Default is loop\n"
-        "loop is OpenCV-like horizontal scanning, computing only valid points, grid extracts only useful points but rounds them, iloop uses linear texture and rotated gradiant fetching. igrid is grid with linear interpolation. notile is like igrid but avoids redundant gradiant fetching.")
-        ("popsift-mode", bool_switch()->notifier([&](bool b) { if(b) config.setMode(popsift::Config::PopSift); }),
-        "During the initial upscale, shift pixels by 1. In extrema refinement, steps up to 0.6, do not reject points when reaching max iterations, "
-        "first contrast threshold is .8 * peak thresh. Shift feature coords octave 0 back to original pos.")
-        ("vlfeat-mode", bool_switch()->notifier([&](bool b) { if(b) config.setMode(popsift::Config::VLFeat); }),
-        "During the initial upscale, shift pixels by 1. That creates a sharper upscaled image. "
-        "In extrema refinement, steps up to 0.6, levels remain unchanged, "
-        "do not reject points when reaching max iterations, "
-        "first contrast threshold is .8 * peak thresh.")
-        ("opencv-mode", bool_switch()->notifier([&](bool b) { if(b) config.setMode(popsift::Config::OpenCV); }),
-        "During the initial upscale, shift pixels by 0.5. "
-        "In extrema refinement, steps up to 0.5, "
-        "reject points when reaching max iterations, "
-        "first contrast threshold is floor(.5 * peak thresh). "
-        "Computed filter width are lower than VLFeat/PopSift")
-        ("direct-scaling", bool_switch()->notifier([&](bool b) { if(b) config.setScalingMode(popsift::Config::ScaleDirect); }),
-         "Direct each octave from upscaled orig instead of blurred level.")
-        ("norm-multi", value<int>()->notifier([&](int i) {config.setNormalizationMultiplier(i); }), "Multiply the descriptor by pow(2,<int>).")
-        ( "norm-mode", value<std::string>()->notifier([&](const std::string& s) { config.setNormMode(s); }),
-          popsift::Config::getNormModeUsage() )
-        ( "root-sift", bool_switch()->notifier([&](bool b) { if(b) config.setNormMode(popsift::Config::RootSift); }),
-          popsift::Config::getNormModeUsage() )
-        ("filter-max-extrema", value<int>()->notifier([&](int f) {config.setFilterMaxExtrema(f); }), "Approximate max number of extrema.")
-        ("filter-grid", value<int>()->notifier([&](int f) {config.setFilterGridSize(f); }), "Grid edge length for extrema filtering (ie. value 4 leads to a 4x4 grid)")
-        ("filter-sort", value<std::string>()->notifier([&](const std::string& s) {config.setFilterSorting(s); }), "Sort extrema in each cell by scale, either random (default), up or down");
 
-    }
+    option_init_parameters( config, parameters );
+    option_init_modes( config, modes );
+
     options_description informational("Informational");
     {
         informational.add_options()
@@ -118,6 +76,7 @@ static void parseargs(int argc, char** argv, popsift::Config& config, string& in
         ("print-time-info", bool_switch(&print_time_info)->default_value(false), "A debug output printing image processing time after load()")
         ("write-as-uchar", bool_switch(&write_as_uchar)->default_value(false), "Output descriptors rounded to int.\n"
          "Scaling to sensible ranges is not automatic, should be combined with --norm-multi=9 or similar")
+        ("write-with-ori", bool_switch(&write_with_ori)->default_value(false), "Output points are written with sigma and orientation.\n")
         ("dont-write", bool_switch(&dont_write)->default_value(false), "Suppress descriptor output")
         ("pgmread-loading", bool_switch(&pgmread_loading)->default_value(false), "Use the old image loader instead of LibDevIL")
         ("float-mode", bool_switch(&float_mode)->default_value(false), "Upload image to GPU as float instead of byte")
@@ -254,7 +213,7 @@ void read_job( SiftJob* job, bool really_write )
         nvtxRangePushA( "Writing features to disk" );
 
         std::ofstream of( "output-features.txt" );
-        feature_list->print( of, write_as_uchar );
+        feature_list->print( of, write_as_uchar, write_with_ori );
     }
     delete feature_list;
 
@@ -273,6 +232,8 @@ int main(int argc, char **argv)
 
     std::cout << "PopSift version: " << POPSIFT_VERSION_STRING << std::endl;
 
+    config.setDescMode( popsift::Config::VLFeat_Desc );
+
     try {
         parseargs( argc, argv, config, inputFile ); // Parse command line
         std::cout << inputFile << std::endl;
@@ -327,4 +288,3 @@ int main(int argc, char **argv)
 
     return EXIT_SUCCESS;
 }
-