Squashed commit of the sb-vbs branch.

Includes the SD-VBS benchmarks modified to:
- Use libextra to loop as realtime jobs
- Preallocate memory before starting their main computation
- Accept input via stdin instead of via argc

Does not include the SD-VBS matlab code.

Fixes libextra execution in LITMUS^RT.

10 files changed, 422 insertions, 0 deletions

diff --git a/SD-VBS/benchmarks/disparity/src/c/computeSAD.c b/SD-VBS/benchmarks/disparity/src/c/computeSAD.c
new file mode 100644
index 0000000..e12bd55
--- /dev/null
+++ b/SD-VBS/benchmarks/disparity/src/c/computeSAD.c
@@ -0,0 +1,27 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "disparity.h"
+
+void computeSAD(I2D *Ileft, I2D* Iright_moved, F2D* SAD)
+{
+    int rows, cols, i, j, diff;
+    
+    rows = Ileft->height;
+    cols = Ileft->width;
+
+    for(i=0; i<rows; i++)
+    {
+        for(j=0; j<cols; j++)
+        {
+            diff = subsref(Ileft,i,j) - subsref(Iright_moved,i,j);
+            subsref(SAD,i,j) = diff * diff;
+        }
+    }
+    
+    return;
+}
+
diff --git a/SD-VBS/benchmarks/disparity/src/c/correlateSAD_2D.c b/SD-VBS/benchmarks/disparity/src/c/correlateSAD_2D.c
new file mode 100644
index 0000000..6b43cbd
--- /dev/null
+++ b/SD-VBS/benchmarks/disparity/src/c/correlateSAD_2D.c
@@ -0,0 +1,34 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "disparity.h"
+
+void correlateSAD_2D(I2D* Ileft, I2D* Iright, I2D* Iright_moved, int win_sz, int disparity, F2D* SAD, F2D* integralImg, F2D* retSAD, I2D* range)
+{
+    int rows, cols;
+    int i, j, endRM;
+    //I2D *range;
+    
+    //iResetArray(range,1,2,0);
+    subsref(range,0,0) = 0;
+    subsref(range,0,1) = disparity;
+
+    rows = Iright_moved->height;
+    cols = Iright_moved->width;
+
+    for(i=0; i<rows*cols; i++)
+        asubsref(Iright_moved,i) = 0;
+    
+    padarray4(Iright, range, -1, Iright_moved);
+   
+    computeSAD(Ileft, Iright_moved, SAD);
+    integralImage2D2D(SAD, integralImg);
+    finalSAD(integralImg, win_sz, retSAD);
+
+    //iFreeHandle(range);    
+    return;
+}
+
diff --git a/SD-VBS/benchmarks/disparity/src/c/disparity.h b/SD-VBS/benchmarks/disparity/src/c/disparity.h
new file mode 100644
index 0000000..8617a87
--- /dev/null
+++ b/SD-VBS/benchmarks/disparity/src/c/disparity.h
@@ -0,0 +1,24 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#ifndef _DISP_
+#define _DISP_
+
+#include "sdvbs_common.h"
+void computeSAD(I2D *Ileft, I2D* Iright_moved, F2D* SAD);
+I2D* getDisparity(I2D* Ileft, I2D* Iright, int win_sz, int max_shift,
+                  I2D* minSAD, I2D* retDisp, I2D* halfWin,
+                  I2D* IrightPadded, I2D* IleftPadded, I2D* Iright_moved,
+                  F2D* retSAD, F2D* SAD, F2D* integralImg,
+                  I2D* range);
+void finalSAD(F2D* integralImg, int win_sz, F2D* retSAD);
+void findDisparity(F2D* retSAD, F2D* minSAD, I2D* retDisp, int level, int nr, int nc);
+void integralImage2D2D(F2D* SAD, F2D* integralImg);
+void correlateSAD_2D(I2D* Ileft, I2D* Iright, I2D* Iright_moved, int win_sz, int disparity, F2D* SAD, F2D* integralImg, F2D* retSAD, I2D* range);
+I2D* padarray2(I2D* inMat, I2D* borderMat);
+void padarray4(I2D* inMat, I2D* borderMat, int dir, I2D* paddedArray);
+
+#endif
+
+
diff --git a/SD-VBS/benchmarks/disparity/src/c/finalSAD.c b/SD-VBS/benchmarks/disparity/src/c/finalSAD.c
new file mode 100644
index 0000000..8155820
--- /dev/null
+++ b/SD-VBS/benchmarks/disparity/src/c/finalSAD.c
@@ -0,0 +1,28 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "disparity.h"
+
+void finalSAD(F2D* integralImg, int win_sz, F2D* retSAD)
+{
+    int endR, endC;
+    int i, j, k;
+    
+    endR = integralImg->height;
+    endC = integralImg->width;
+    
+    k = 0;
+    for(j=0; j<(endC-win_sz); j++)
+    {
+        for(i=0; i<(endR-win_sz); i++)
+        {
+            subsref(retSAD,i,j) = subsref(integralImg,(win_sz+i),(j+win_sz)) + subsref(integralImg,(i+1) ,(j+1)) - subsref(integralImg,(i+1),(j+win_sz)) - subsref(integralImg,(win_sz+i),(j+1));
+        }
+    }
+
+    return;
+}
+
diff --git a/SD-VBS/benchmarks/disparity/src/c/findDisparity.c b/SD-VBS/benchmarks/disparity/src/c/findDisparity.c
new file mode 100644
index 0000000..6335daf
--- /dev/null
+++ b/SD-VBS/benchmarks/disparity/src/c/findDisparity.c
@@ -0,0 +1,29 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "disparity.h"
+
+void findDisparity(F2D* retSAD, F2D* minSAD, I2D* retDisp, int level, int nr, int nc)
+{
+    int i, j, a, b;
+    
+    for(i=0; i<nr; i++)
+    {
+        for(j=0; j<nc; j++)
+        {
+            a = subsref(retSAD,i,j);
+            b = subsref(minSAD,i,j);
+            if(a<b)
+            {
+                subsref(minSAD,i,j) = a;
+                subsref(retDisp,i,j) = level;
+            }
+        }
+    }
+    return;
+}
+
+
diff --git a/SD-VBS/benchmarks/disparity/src/c/getDisparity.c b/SD-VBS/benchmarks/disparity/src/c/getDisparity.c
new file mode 100644
index 0000000..3246e97
--- /dev/null
+++ b/SD-VBS/benchmarks/disparity/src/c/getDisparity.c
@@ -0,0 +1,43 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "disparity.h"
+
+I2D* getDisparity(I2D* Ileft, I2D* Iright, int win_sz, int max_shift,
+                  I2D* minSAD, I2D* retDisp, I2D* halfWin, 
+                  I2D* IrightPadded, I2D* IleftPadded, I2D* Iright_moved,
+                  F2D* retSAD, F2D* SAD, F2D* integralImg,
+                  I2D* range)
+{
+    int nr, nc, k;
+    int half_win_sz, rows, cols;
+    
+    nr = Ileft->height;
+    nc = Ileft->width;
+    half_win_sz=win_sz/2;
+    
+    
+    fResetArray(minSAD, nr, nc, 255.0*255.0);
+    iResetArray(retDisp, nr, nc,max_shift);
+    iResetArray(halfWin, 1,2,half_win_sz);
+
+    rows = IleftPadded->height;
+    cols = IleftPadded->width;
+    fResetArray(SAD, rows, cols,255);
+    fResetArray(integralImg, rows, cols,0);
+    //fResetArray(retSAD,rows-win_sz, cols-win_sz, 0);
+    iResetArray(Iright_moved, rows, cols, 0);
+    
+    for( k=0; k<max_shift; k++)
+    {    
+        correlateSAD_2D(IleftPadded, IrightPadded, Iright_moved, win_sz, k, SAD, integralImg, retSAD, range);
+        findDisparity(retSAD, minSAD, retDisp, k, nr, nc);
+    }
+    
+     
+    return retDisp;
+}
+
diff --git a/SD-VBS/benchmarks/disparity/src/c/integralImage2D2D.c b/SD-VBS/benchmarks/disparity/src/c/integralImage2D2D.c
new file mode 100644
index 0000000..cc964d1
--- /dev/null
+++ b/SD-VBS/benchmarks/disparity/src/c/integralImage2D2D.c
@@ -0,0 +1,31 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "disparity.h"
+
+void integralImage2D2D(F2D* SAD, F2D* integralImg)
+{
+    int nr, nc, i, j;
+    
+    nr = SAD->height;
+    nc = SAD->width;
+    
+    for(i=0; i<nc; i++)
+        subsref(integralImg,0,i) = subsref(SAD,0,i);
+    
+    for(i=1; i<nr; i++)
+        for(j=0; j<nc; j++)
+        {
+            subsref(integralImg,i,j) = subsref(integralImg, (i-1), j) + subsref(SAD,i,j);
+        }
+
+    for(i=0; i<nr; i++)
+        for(j=1; j<nc; j++)
+            subsref(integralImg,i,j) = subsref(integralImg, i, (j-1)) + subsref(integralImg,i,j);
+
+    return;
+    
+}
diff --git a/SD-VBS/benchmarks/disparity/src/c/padarray2.c b/SD-VBS/benchmarks/disparity/src/c/padarray2.c
new file mode 100644
index 0000000..49f1938
--- /dev/null
+++ b/SD-VBS/benchmarks/disparity/src/c/padarray2.c
@@ -0,0 +1,33 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "disparity.h"
+
+I2D* padarray2(I2D* inMat, I2D* borderMat)
+{
+    int rows, cols, bRows, bCols, newRows, newCols;
+    I2D *paddedArray;
+    int i, j;
+
+    rows = inMat->height;
+    cols = inMat->width;
+    
+    bRows = borderMat->data[0];
+    bCols = borderMat->data[1];
+    
+    newRows = rows + bRows*2;
+    newCols = cols + bCols*2;
+    
+    paddedArray = iSetArray(newRows, newCols, 0);
+    
+    for(i=0; i<rows; i++)
+        for(j=0; j<cols; j++)
+            subsref(paddedArray, (bRows+i), (bCols+j)) = subsref(inMat, i, j);
+    
+    return paddedArray;
+    
+}
+
diff --git a/SD-VBS/benchmarks/disparity/src/c/padarray4.c b/SD-VBS/benchmarks/disparity/src/c/padarray4.c
new file mode 100644
index 0000000..321cad9
--- /dev/null
+++ b/SD-VBS/benchmarks/disparity/src/c/padarray4.c
@@ -0,0 +1,41 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include "disparity.h"
+
+void padarray4(I2D* inMat, I2D* borderMat, int dir, I2D* paddedArray)
+{
+    int rows, cols, bRows, bCols, newRows, newCols;
+    int i, j;
+    int adir;
+   
+    adir = abs(dir); 
+    rows = inMat->height;
+    cols = inMat->width;
+    
+    bRows = borderMat->data[0];
+    bCols = borderMat->data[1];
+    
+    newRows = rows + bRows;
+    newCols = cols + bCols;
+    
+    if(dir ==1)
+    {
+        for(i=0; i<rows; i++)
+            for(j=0; j<cols; j++)
+                subsref(paddedArray, i, j) = subsref(inMat,i,j);
+    }
+    else
+    {
+        for(i=0; i<rows-bRows; i++)
+            for(j=0; j<cols-bCols; j++)
+                subsref(paddedArray, (bRows+i), (bCols+j)) = subsref(inMat,i,j);
+    }
+    
+    return;
+}
+
diff --git a/SD-VBS/benchmarks/disparity/src/c/script_disparity.c b/SD-VBS/benchmarks/disparity/src/c/script_disparity.c
new file mode 100644
index 0000000..431c02c
--- /dev/null
+++ b/SD-VBS/benchmarks/disparity/src/c/script_disparity.c
@@ -0,0 +1,132 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "disparity.h"
+#include <malloc.h>
+#include "extra.h"
+#define DISPARITY_MEM 1<<24
+int main(int argc, char* argv[])
+{
+    SET_UP
+    mallopt(M_TOP_PAD, DISPARITY_MEM);
+    mallopt(M_MMAP_MAX, 0);
+    int rows = 32;
+    int cols = 32;
+    I2D *imleft, *imright;
+    volatile I2D* retDisparity;
+    I2D *IrightPadded, *IleftPadded, *Iright_moved;
+    I2D *retDisp, *halfWin;
+    I2D *range;
+    F2D *retSAD, *minSAD, *SAD, *integralImg;
+    unsigned int *start, *endC, *elapsed;
+    
+    int i, j;
+    char im1[100], im2[100], timFile[100];
+    int WIN_SZ=8, SHIFT=64;
+    FILE* fp;
+    
+    printf("Image 1: ");
+    scanf("%s", im1);
+    printf("Image 2: ");
+    scanf("%s", im2);
+#ifdef CHECK
+    char checkFile[100] = "./expected_C.txt";
+#endif
+    imleft = readImage(im1);
+    imright = readImage(im2);
+
+    rows = imleft->height;
+    cols = imleft->width;
+
+#ifdef test
+    WIN_SZ = 2;
+    SHIFT = 1;
+#endif
+#ifdef sim_fast
+    WIN_SZ = 4;
+    SHIFT = 4;
+#endif
+#ifdef sim
+    WIN_SZ = 4;
+    SHIFT = 8;
+#endif
+
+
+    int nr, nc, k;
+    int half_win_sz;
+    nr = imleft->height;
+    nc = imleft->width;
+    half_win_sz = WIN_SZ / 2;
+
+    minSAD = fSetArray(nr, nc, 255.0*255.0);
+    retDisp = iSetArray(nr, nc, SHIFT);
+    halfWin = iSetArray(1,2,half_win_sz);
+
+
+    if(WIN_SZ > 1)
+    {
+        IleftPadded = padarray2(imleft, halfWin);
+        IrightPadded = padarray2(imright, halfWin);
+    }
+    else
+    {
+        IleftPadded = imleft;
+        IrightPadded = imright;
+    }
+
+    int paddedRows, paddedCols;
+    paddedRows = IleftPadded->height;
+    paddedCols = IleftPadded->width;
+    SAD = fSetArray(paddedRows, paddedCols,255);
+    integralImg = fSetArray(paddedRows, paddedCols,0);
+    retSAD = fMallocHandle(paddedRows- WIN_SZ, paddedCols - WIN_SZ);
+    Iright_moved = iSetArray(paddedRows, paddedCols, 0);
+
+    range = iMallocHandle(1, 2);
+    printf("starting..\n");
+    for_each_job{
+    retDisparity = getDisparity(imleft, imright, WIN_SZ, SHIFT, 
+                   minSAD, retDisp, halfWin,
+                   IrightPadded, IleftPadded, Iright_moved,
+                   retSAD, SAD, integralImg,
+                   range);
+    }
+    printf("ending\n");
+
+#ifdef CHECK   
+    /** Self checking - use expected.txt from data directory  **/
+    {
+        int tol, ret=0;
+        tol = 2;
+#ifdef GENERATE_OUTPUT
+        writeMatrix(retDisparity, argv[1]);
+#endif
+        ret = selfCheck(retDisparity, checkFile, tol);
+        if (ret == -1)
+            printf("Error in Disparity Map\n");
+    }
+    /** Self checking done **/
+#endif
+
+    //end of benchmark
+    fFreeHandle(minSAD);
+    fFreeHandle(SAD);
+    fFreeHandle(integralImg);
+    iFreeHandle(IrightPadded);
+    iFreeHandle(IleftPadded);
+    iFreeHandle(Iright_moved);
+    fFreeHandle(retSAD);
+    iFreeHandle(imleft);
+    iFreeHandle(imright);
+    iFreeHandle(retDisparity);
+    iFreeHandle(halfWin);
+    iFreeHandle(range);
+    free(start);
+    free(endC);
+    free(elapsed);
+    WRITE_TO_FILE;
+    return 0;
+}