featureTrack.h

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#ifndef __ONV_FEATURETRACK_H
#define __ONV_FEATURETRACK_H
#include <GL/gl.h>
#include <GL/glext.h>
#include <GL/glu.h>
#include <stdio.h>
#include <assert.h>
#include <Cg/cgGL.h>
#include "fv.h"
#include "float_pbuffer_lnx.h"

class featureTrack {
  private :
    GLuint fb[10],depth_rb;
    GLuint inputfb, testTex; 

    //orientation/feature vector resources
    GLuint occlusionQueries;
    GLuint pixelCount, gaussian16x16tex;
    GLuint orientationfb, orientationQuadTex[5], orientationSumTex; 
    GLuint orientationTex, orientationfb2;
    GLuint featureCoordsLUTTex;

    GLuint featurefb, featureTex[16];
    float *featureCoordsBuf, *featureCoordsTex;
    unsigned char *stencilbuf;
    float *orientationsBuf;
    GLuint featureWorkBufs[4], featureWorkTex[16];

    /* vars for Cg */
    CGcontext cgContext;
    CGprogram undistortProgram, gaussianderivXProgram, magdirProgram,
              gaussianderivYProgram,
              cannysearchProgram, dxdyProgram, gaussianXProgram, gaussianYProgram,
              derandomProgram, decideProgram, basicProgram;

    /* Cg for feature vector computations */
    CGprogram passredProgram, orientationProgram, featureProgram, sum4texProgram;

    CGprofile cgProfile;
    CFPBuffer fpbuffer, procbuffer;
 
    int numCorners; // = 0;
    float featureBuf0[16*640*4];

//    float cannythresh[4] = {2.0, 4.0, 4.0, 4.0};
    float cannythresh[4] ;
    float derandomthresh[4];// = {0.5, 0.25, 0.25, 0.25};
    float cornerthresh[4];// = {11.0, 0.25, 0.25, 0.25};


    unsigned char rbbuf[640*480*4];

    int Width;
    int Height;
    float depth;

    static GLenum errCode;
    const GLubyte *errString;

    void reshape(int,int);
    void drawQuadTex();
    void drawQuadFBT();
    void makeLUT(unsigned char *f);
    CGprogram load_cgprogram(CGprofile prof, char *name);
    void init_cg();
    void locateFeatures( GLuint texIn );
    void makeLookupTexture();
    void calcOrientations();
    void calcFeatures();
    Scene *createScene( int num, float *coords, float *orients, float *buf );
    void render_redirect(GLuint texIn);

  public : 
    GLuint tex[10];   



    featureTrack(int width,   
                 int height); 
 
    Scene *getScene( GLuint texIn )    
    {  
      render_redirect( texIn );
      return createScene( numCorners, featureCoordsBuf, 
                          orientationsBuf, featureBuf0);
    }
    int width() { return Width; } 
    int height() { return Height; }
};

#endif

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