initial sd-vbs

initial sd-vbs

add sd-vbs

sd-vbs

25 files changed, 1090 insertions, 0 deletions

diff --git a/SD-VBS/benchmarks/stitch/src/c/dist2.c b/SD-VBS/benchmarks/stitch/src/c/dist2.c
new file mode 100644
index 0000000..d76fcb2
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/c/dist2.c
@@ -0,0 +1,76 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include "stitch.h"
+
+F2D* dist2(I2D* x, F2D* c)
+{
+    int ndata, dimx, ncentres, dimc, i, j, k;
+    F2D *n2, *t1, *t2;
+    float temp;
+    F2D *s1, *s2, *ctrans;
+    F2D *mult1, *mult2, *mult3;
+
+    ndata = x->height;
+    dimx = x->width;
+
+    ncentres = c->height;
+    dimc = c->width;
+
+    if(dimx != dimc)
+        return NULL;
+
+    s1 = fSetArray(ncentres, 1, 1);
+    s2 = fSetArray(ndata, 1, 1);
+    t1 = fMallocHandle(1, x->height);
+
+    for(j=0; j<t1->width; j++)
+    {
+        temp = 0;
+        for(i=0; i<t1->height; i++)
+        {
+            temp += subsref(x,j,i) * subsref(x,j,i);
+        }
+
+        asubsref(t1,j) = temp;
+    }
+
+    mult1 = fMtimes(s1, t1);
+    t2 = fMallocHandle(1, c->height);
+
+    for(j=0; j<t2->width; j++)
+    {
+        temp = 0;
+        for(i=0; i<t2->height; i++)
+        {
+            temp += subsref(c,j,i) * subsref(c,j,i);
+        }
+
+        asubsref(t2,j) = temp;
+    }
+
+    mult2 = fMtimes(s2, t2);
+    ctrans = fTranspose(c);
+    mult3 = ifMtimes(x, ctrans);
+
+    for(i=0; i<(mult3->height * mult3->width); i++)
+        asubsref(mult3,i) = asubsref(mult3,i) * 2;
+
+    free(t1);
+    free(t2);
+    free(s1);
+    free(s2);
+    free(ctrans);
+
+    n2 = fMallocHandle(ndata, ncentres);
+    for(i=0; i<(ndata*ncentres); i++)
+        asubsref(n2,i) = asubsref(mult1,i) + asubsref(mult2,i) - asubsref(mult3,i);
+
+    free(mult1);
+    free(mult2);
+    free(mult3);
+
+    return n2;
+
+}
diff --git a/SD-VBS/benchmarks/stitch/src/c/extractFeatures.c b/SD-VBS/benchmarks/stitch/src/c/extractFeatures.c
new file mode 100644
index 0000000..ea574e4
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/c/extractFeatures.c
@@ -0,0 +1,181 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include "stitch.h"
+#include <math.h>
+
+#define min(a,b) (a<b)?a:b
+
+F2D* extractFeatures(I2D* I, F2D* x, F2D* y)
+{
+    int n, i, j, k;
+    F2D* I1;
+    F2D *Iconv;
+    F2D *Isub;
+    int nr, nc;
+    F2D *w, *wt, *vecF;
+    I2D *Xsub, *Ysub;
+    float temp, mean, std;
+    int m;
+    F2D *g1, *g;
+
+    g1 = fSetArray(5,5,0);
+
+    asubsref(g1,0) = 1;
+    asubsref(g1,1) = 4;
+    asubsref(g1,2) = 6;
+    asubsref(g1,3) = 4;
+    asubsref(g1,4) = 1;
+
+    asubsref(g1,5) = 4;
+    asubsref(g1,6) = 16;
+    asubsref(g1,7) = 24;
+    asubsref(g1,8) = 16;
+    asubsref(g1,9) = 4;
+
+    asubsref(g1,10) = 6;
+    asubsref(g1,11) = 24;
+    asubsref(g1,12) = 36;
+    asubsref(g1,13) = 24;
+    asubsref(g1,14) = 6;
+
+    asubsref(g1,15) = 4;
+    asubsref(g1,16) = 16;
+    asubsref(g1,17) = 24;
+    asubsref(g1,18) = 16;
+    asubsref(g1,19) = 4;
+
+    asubsref(g1,20) = 1;
+    asubsref(g1,21) = 4;
+    asubsref(g1,22) = 6;
+    asubsref(g1,23) = 4;
+    asubsref(g1,24) = 1;
+
+    g = fDivide(g1, 256);
+    n = x->height;
+
+    vecF = fMallocHandle(n, 64);
+    I1 = fiDeepCopy(I);
+
+    Iconv = ffConv2(I1, g);
+    fFreeHandle(I1);
+    I1 = ffConv2(Iconv, g);
+    fFreeHandle(Iconv);
+    Iconv = fDeepCopy(I1);
+
+    {
+        int i = (Iconv->height/5);
+        int j = (Iconv->width/5);
+        Isub = fMallocHandle(i, j);
+    }
+
+    for(i=0, m=0; m<Isub->height; i+=5, m++)
+    {
+        for(j=0, k=0; k<Isub->width; j+=5, k++)
+        {
+            subsref(Isub,m,k) = subsref(Iconv,i,j);
+        }
+    }
+
+    fFreeHandle(Iconv);
+    fFreeHandle(g1);
+    fFreeHandle(g);
+    fFreeHandle(I1);
+
+    nr = Isub->height;
+    nc = Isub->width;
+
+    Xsub = iMallocHandle(x->height, x->width);
+    Ysub = iMallocHandle(y->height, y->width);
+        
+//    printf("Sizes = %d\t%d\t%d\t%d\n", Isub->height, Isub->width, x->height, x->width);
+   
+    for(i=0; i<(x->height*x->width); i++)
+    {
+        asubsref(Xsub,i) = min( ( asubsref(x,i) /5), nc-4 );
+        asubsref(Ysub,i) = min( ( asubsref(y,i) /5), nr-4 );
+    }
+
+    {
+        int maxX, maxY;
+        maxX = Xsub->height>Xsub->width?Xsub->height:Xsub->width;
+        maxY = Ysub->height>Ysub->width?Ysub->height:Ysub->width;
+        if(maxX < 6 || maxY < 10)
+        {
+            fFreeHandle(vecF);
+            vecF = fSetArray(n,2,0);
+            for(i=0; i<(x->height); i++)
+            {
+                subsref(vecF, i, 0) = asubsref(Xsub,i)*1.0;
+                subsref(vecF, i, 1) = asubsref(Ysub,i)*1.0;
+            }
+
+            fFreeHandle(Isub); 
+            iFreeHandle(Xsub); 
+            iFreeHandle(Ysub); 
+            return vecF;
+        }
+    }
+
+    {
+        int newSize = 4;
+        if(I->height > 32 && I->width >32)
+            newSize = 64;
+        fFreeHandle(vecF);
+        vecF = fMallocHandle(n, newSize);
+    }
+
+//    printf("Size of Isub = %d\t%d\n", Isub->height, Isub->width);      
+    for(i=0; i<n; i++)
+    {
+    
+        if( asubsref(Ysub,i) < 3)
+            asubsref(Ysub,i) = 3;
+        if( asubsref(Xsub,i) < 3)
+            asubsref(Xsub,i) = 3;
+        
+        if( asubsref(Ysub,i) >= (Isub->height-4))
+            asubsref(Ysub,i) = Isub->height-5;
+        if( asubsref(Xsub,i) >= (Isub->width-4))
+            asubsref(Xsub,i) = Isub->width-5;
+
+        m = 0;
+        temp = 0;
+//        printf("SUBS %d\t%d\n", asubsref(Ysub,i), asubsref(Xsub,i));
+  
+        for(k= asubsref(Xsub,i)-3; k<=( asubsref(Xsub,i)+4); k++)
+        {
+            for(j= asubsref(Ysub,i)-3; j<=( asubsref(Ysub,i)+4); j++)
+            {
+//                printf("%d\t%d\n", j, k);
+                subsref(vecF,i,m) = subsref(Isub,j,k);
+                temp += subsref(vecF,i,m);
+                m++;
+            }
+        }
+        mean = temp/64.0;
+
+        std = 0;
+        for(j=0; j<64; j++)
+        {
+            subsref(vecF,i,j) = subsref(vecF,i,j) - mean;
+            std += subsref(vecF,i,j) * subsref(vecF,i,j);
+        }
+         
+        std = std/64;
+        std = sqrt(std);
+        for(j=0; j<64; j++)
+        {
+            subsref(vecF,i,j) = subsref(vecF,i,j)/std; 
+        }
+    }
+
+    iFreeHandle(Xsub);
+    fFreeHandle(Isub);
+    iFreeHandle(Ysub);
+    return vecF;
+}
+
+
+
diff --git a/SD-VBS/benchmarks/stitch/src/c/getANMS.c b/SD-VBS/benchmarks/stitch/src/c/getANMS.c
new file mode 100644
index 0000000..fa03a85
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/c/getANMS.c
@@ -0,0 +1,145 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include "stitch.h"
+
+F2D* getANMS (F2D *points, int r)
+{
+  unsigned int MAX_LIMIT = 10000000;
+  F2D *suppressR;
+  float C_ROBUST = 0.9;
+  F2D *srtdPnts;
+  int n, k;
+  I2D *srtdVIdx, *supId;
+  float r_sq, t, t1;
+  F2D *tempF, *srtdV, *interestPnts;
+  int i, j, validCount=0, cnt, end;
+  F2D *v;
+    int iter, rows, cols;
+    F2D* temp;
+    int supIdPtr = 0;
+
+  v = fMallocHandle(points->height, 1);
+  for(i=0; i<v->height; i++)
+      asubsref(v,i) = subsref(points,i,2);
+
+  r_sq = r * r * 1.0;
+  n = v->height;
+
+    srtdVIdx = fSortIndices (v, 1);
+    srtdPnts = fMallocHandle (srtdVIdx->height, points->width);
+
+    for (i = 0; i < srtdVIdx->height; i++)
+        for(j=0; j<points->width; j++)
+            subsref(srtdPnts,i,j) = subsref(points, asubsref(srtdVIdx,i), j);
+
+    temp = fSetArray (1, 3, 0);
+    suppressR = fSetArray(n, 1, MAX_LIMIT);
+
+    validCount = 0;
+    iter = 0;
+    for (i = 0; i < suppressR->height; i++)
+    {
+            if ( asubsref(suppressR,i) > r_sq)
+        {
+            validCount++;
+        }
+    }
+   
+    k = 0;
+    supId = iMallocHandle(validCount, 1);
+    for (i = 0; i < (suppressR->height*suppressR->width); i++)
+    {
+        if ( asubsref(suppressR,i) > r_sq)
+        {
+            asubsref(supId,k++) = i;
+        }
+    }
+         
+    while (validCount > 0)
+    {
+        F2D *tempp, *temps;
+        asubsref(temp,0) = subsref(srtdPnts, asubsref(supId,0), 0);
+        asubsref(temp,1) = subsref(srtdPnts, asubsref(supId,0), 1);
+        asubsref(temp,2) = subsref(srtdPnts, asubsref(supId,0), 2);
+       
+        if(iter == 0)
+            interestPnts = fDeepCopy(temp);
+        else
+        {
+            tempp = fDeepCopy(interestPnts);
+            fFreeHandle(interestPnts); 
+            interestPnts = ffVertcat(tempp, temp);
+            fFreeHandle(tempp);
+        }
+        iter++;
+
+        tempp = fDeepCopy(srtdPnts);
+        temps = fDeepCopy(suppressR);
+
+        fFreeHandle(srtdPnts);
+        fFreeHandle(suppressR);
+
+        srtdPnts = fMallocHandle(supId->height-1, 3);
+        suppressR = fMallocHandle(supId->height-1, 1);
+        
+        k=0;
+        for(i=1; i<supId->height; i++)
+        {
+            subsref(srtdPnts,k,0) = subsref(tempp, asubsref(supId,i) ,0);
+            subsref(srtdPnts,k,1) = subsref(tempp, asubsref(supId,i) ,1);
+            subsref(srtdPnts,k,2) = subsref(tempp, asubsref(supId,i) ,2);
+            subsref(suppressR,k,0) = subsref(temps, asubsref(supId,i) ,0);
+            k++;
+        }
+         
+        fFreeHandle(tempp);
+        fFreeHandle(temps);
+        rows = interestPnts->height-1;
+        cols = interestPnts->width;
+        for (i = 0; i < srtdPnts->height; i++)
+            {
+            t = 0;
+                t1 = 0;
+
+                if ((C_ROBUST * subsref(interestPnts,rows,2)) >= subsref(srtdPnts, i,2))
+                {
+                        t = subsref(srtdPnts, i,0) - subsref(interestPnts,rows,0);
+                        t1 = subsref(srtdPnts, i,1) - subsref(interestPnts,rows,1);
+                        t = t * t + t1 * t1;
+                t1 = 0;
+            }
+
+                if ((C_ROBUST * subsref(interestPnts,rows,2)) < subsref(srtdPnts, i,2))
+                t1 = 1 * MAX_LIMIT;
+
+                if ( asubsref(suppressR, i) > (t + t1))
+            {
+                    asubsref(suppressR, i) = t + t1;
+            }  
+        }
+        
+        validCount=0;
+        for (i = 0; i < suppressR->height; i++)
+                if ( asubsref(suppressR,i) > r_sq)
+                validCount++;
+   
+        k = 0;
+        iFreeHandle(supId);
+        supId = iMallocHandle(validCount, 1);
+        
+        for (i = 0; i < suppressR->height*suppressR->width; i++)
+            if ( asubsref(suppressR,i) > r_sq)
+                asubsref(supId,k++) = i;
+    }
+  
+    iFreeHandle(supId);
+    iFreeHandle(srtdVIdx);
+    fFreeHandle(srtdPnts);
+    fFreeHandle(temp);
+    fFreeHandle(suppressR);
+    fFreeHandle(v);
+
+    return interestPnts;
+}
diff --git a/SD-VBS/benchmarks/stitch/src/c/harris.c b/SD-VBS/benchmarks/stitch/src/c/harris.c
new file mode 100644
index 0000000..a24c2b4
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/c/harris.c
@@ -0,0 +1,141 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include "stitch.h"
+
+F2D* harris(I2D* im)
+{
+    F2D *img1;
+    F2D *g1, *g2, *g;
+    F2D *Ix, *Iy;
+    F2D *Ix2, *Iy2, *IxIy;
+    F2D *v, *R, *Rmax, *Rnm;
+    float eps;
+    F2D *sobel, *sob, *temp, *temp1;    
+    I2D *win, *x, *y;
+    int i;
+    
+    g1 = fSetArray(5,5,0);
+    g2 = fSetArray(3,3,0);
+
+    asubsref(g1,0) = 1;
+    asubsref(g1,1) = 4;
+    asubsref(g1,2) = 6;
+    asubsref(g1,3) = 4;
+    asubsref(g1,4) = 1;
+
+    asubsref(g1,5) = 4;
+    asubsref(g1,6) = 16;
+    asubsref(g1,7) = 24;
+    asubsref(g1,8) = 16;
+    asubsref(g1,9) = 4;
+
+    asubsref(g1,10) = 6;
+    asubsref(g1,11) = 24;
+    asubsref(g1,12) = 36;
+    asubsref(g1,13) = 24;
+    asubsref(g1,14) = 6;
+
+    asubsref(g1,15) = 4;
+    asubsref(g1,16) = 16;
+    asubsref(g1,17) = 24;
+    asubsref(g1,18) = 16;
+    asubsref(g1,19) = 4;
+
+    asubsref(g1,20) = 1;
+    asubsref(g1,21) = 4;
+    asubsref(g1,22) = 6;
+    asubsref(g1,23) = 4;
+    asubsref(g1,24) = 1;
+
+    asubsref(g2,0) = 1;
+    asubsref(g2,1) = 2;
+    asubsref(g2,2) = 1;
+    
+    asubsref(g2,3) = 2;
+    asubsref(g2,4) = 4;
+    asubsref(g2,5) = 2;
+
+    asubsref(g2,6) = 1;
+    asubsref(g2,7) = 2;
+    asubsref(g2,8) = 1;
+    
+    g = fDivide(g1, 256);
+    sob = fMallocHandle(1,3);
+    asubsref(sob,0) = -0.5;
+    asubsref(sob,1) = 0;
+    asubsref(sob,2) = 0.5;
+
+    {
+        F2D* imf;
+        imf = fiDeepCopy(im);
+        img1 = ffConv2(imf, g);
+        fFreeHandle(imf);
+    }
+
+    Ix = ffConv2(img1, sob); 
+    fFreeHandle(sob);
+    sob = fMallocHandle(3,1);
+    asubsref(sob,0) = -0.5;
+    asubsref(sob,1) = 0;
+    asubsref(sob,2) = 0.5;
+    Iy = ffConv2(img1, sob);
+
+    fFreeHandle(g);
+    g = fDivide(g2, 16);
+    eps = 2.2204e-16;
+    sobel = fTimes(Ix, Ix);
+    Ix2 = ffConv2(sobel, g);
+    fFreeHandle(sobel);
+
+    sobel = fTimes(Iy, Iy);
+    Iy2 = ffConv2(sobel, g);
+    fFreeHandle(sobel);
+
+    sobel = fTimes(Ix, Iy);
+    IxIy = ffConv2(sobel, g);
+    fFreeHandle(sobel);
+ 
+    temp = fTimes(Ix2, Iy2);
+    temp1 = fTimes(IxIy, IxIy);
+    sobel = fMinus(temp, temp1);
+
+    fFreeHandle(temp);
+    temp = fPlus(Ix2, Iy2);
+
+    for(i=0; i<(temp->height*temp->width); i++)
+        asubsref(temp,i) += eps;
+
+    R = ffDivide(sobel, temp);
+    
+    win = iSetArray(1,2,3);
+    Rmax = maxWindow(R, win);
+    Rnm = supress(R, Rmax);
+
+    v = fFind3(Rnm);
+    
+    iFreeHandle(win);
+    fFreeHandle(Rmax);
+    fFreeHandle(Rnm);
+    fFreeHandle(R);
+    
+    fFreeHandle(img1);
+    fFreeHandle(g1);
+    fFreeHandle(g2);
+    fFreeHandle(g);
+    fFreeHandle(Ix);
+    fFreeHandle(Iy);
+    fFreeHandle(Ix2);
+    fFreeHandle(Iy2);
+    fFreeHandle(IxIy);
+    fFreeHandle(sobel);
+    fFreeHandle(sob);
+    fFreeHandle(temp);
+    fFreeHandle(temp1);
+//    iFreeHandle(x);
+//    iFreeHandle(y);
+    
+    return v;
+}
+
diff --git a/SD-VBS/benchmarks/stitch/src/c/matchFeatures.c b/SD-VBS/benchmarks/stitch/src/c/matchFeatures.c
new file mode 100644
index 0000000..5450eb9
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/c/matchFeatures.c
@@ -0,0 +1,55 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include "stitch.h"
+
+I2D* matchFeatures(F2D* vecF1, F2D* vecF2)
+{
+    int m, n, n1, n2, n1c, n2c, i, j;
+    I2D *id, *retMatch, *t;
+    F2D *val, *temp;
+    int rows, cols;    
+
+    n1 = vecF1->height;
+    n1c = vecF1->width;
+    n2 = vecF2->height;
+    n2c = vecF2->width;
+
+    retMatch = iMallocHandle(1, 2);
+
+    for(i=0; i<n1; i++)
+    {
+        id = iMallocHandle(1, n2);
+        t = iMallocHandle(1, n1c);
+
+        for(j=0; j<n1c; j++)
+            asubsref(t,j) = subsref(vecF1,i,j);
+
+        temp = dist2(t, vecF2);
+        val = fSort(temp,1);
+        id = fSortIndices(temp,1);
+
+        free(temp);
+        free(t);
+        
+        if( asubsref(val,1) != 0 & (( asubsref(val,0) / asubsref(val,1) ) < 0.65))
+        {
+            t = retMatch;
+            rows = t->height + 1;
+            cols = t->width;
+            retMatch = iMallocHandle(rows, cols);
+            n = 0;
+    
+            for(m=0; m<(t->height*t->width); m++)
+            {
+                asubsref(retMatch,n++) = asubsref(t,m);
+            }
+
+            asubsref(retMatch,n++) = i;
+            asubsref(retMatch,n) = asubsref(id,0);
+        }
+    }
+
+    return retMatch;
+}
diff --git a/SD-VBS/benchmarks/stitch/src/c/maxWindow.c b/SD-VBS/benchmarks/stitch/src/c/maxWindow.c
new file mode 100644
index 0000000..07f8dc9
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/c/maxWindow.c
@@ -0,0 +1,51 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include "stitch.h"
+
+F2D* maxWindow(F2D* im, I2D* window)
+{
+    int exR, exC, rows, cols, tr, tc, i, j, k;
+    F2D *out, *temp;
+    float t;
+    int m;
+    
+    exR = asubsref(window,0)/2;
+    exC = asubsref(window,1)/2;
+
+    rows = im->height;
+    cols = im->width;
+
+    tr = rows+exR-1;
+    tc = cols+exC-1;
+    temp = fDeepCopy(im);
+    out = fMallocHandle(rows, cols);
+
+    for(i=0; i<rows; i++)
+    {
+        for(j=0; j<cols; j++)
+        {
+            t = 0;
+            for(k=-exR; k<=exR; k++)
+            {
+                for(m=-exC; m<=exC; m++)
+                {
+                    if( (i+k) < 0 || (i+k) >= rows || (j+m) < 0 || (j+m) >= cols)
+                        continue;
+                    if( subsref(temp,(i+k),(j+m)) > t)
+                        t = subsref(temp,(i+k),(j+m));
+                }
+            }
+            subsref(out,i,j) = t;
+        }
+    }
+
+    fFreeHandle(temp);
+    return out;
+}
+
+
+
+
+
diff --git a/SD-VBS/benchmarks/stitch/src/c/script_stitch.c b/SD-VBS/benchmarks/stitch/src/c/script_stitch.c
new file mode 100644
index 0000000..00c9a93
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/c/script_stitch.c
@@ -0,0 +1,65 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include "stitch.h"
+#include <malloc.h>
+#include "extra.h"
+#define STITCH_MEM 1<<30
+int main(int argc, char* argv[])
+{
+    SET_UP
+    mallopt(M_TOP_PAD, STITCH_MEM);
+    mallopt(M_MMAP_MAX, 0);
+    int rows, cols;
+    F2D *x, *y, *v, *interestPnts, *Fcur, *int1, *int2;
+    I2D *Icur;
+    int i, j;
+    char im1[100], im2[100];
+    
+
+    printf("Input image: ");
+    scanf("%s", im1);
+    Icur = readImage(im1);
+    rows = Icur->height;
+    cols = Icur->width;
+    
+    printf("start\n");
+    for_each_job{
+        v = harris(Icur);
+        interestPnts = getANMS(v, 24);
+        int1 = fMallocHandle(interestPnts->height, 1);
+        int2 = fSetArray(interestPnts->height, 1, 0);
+        for(i=0; i<int1->height; i++)
+        {
+            asubsref(int1,i) = subsref(interestPnts,i,0);
+            asubsref(int2,i) = subsref(interestPnts,i,1);
+        }
+
+        Fcur = extractFeatures(Icur, int1, int2);  
+    }
+    printf("end..\n");
+    
+
+#ifdef CHECK   
+    /** Self checking - use expected.txt from data directory  **/
+    {
+        int ret=0;
+        float tol = 0.02;
+#ifdef GENERATE_OUTPUT
+        fWriteMatrix(Fcur, argv[1]);
+#endif
+        ret = fSelfCheck(Fcur, "expected_C.txt", tol);
+        if (ret == -1)
+            printf("Error in Stitch\n");
+    }
+#endif
+    iFreeHandle(Icur);
+    fFreeHandle(v);
+    fFreeHandle(interestPnts);
+    fFreeHandle(int1);
+    fFreeHandle(int2);
+    fFreeHandle(Fcur);
+    WRITE_TO_FILE
+    return 0;
+}
diff --git a/SD-VBS/benchmarks/stitch/src/c/stitch.h b/SD-VBS/benchmarks/stitch/src/c/stitch.h
new file mode 100644
index 0000000..e2202fc
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/c/stitch.h
@@ -0,0 +1,22 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#ifndef _SCRIPT_STITCH_
+#define _SCRIPT_STITCH_
+
+#include "sdvbs_common.h"
+
+F2D* dist2(I2D* x, F2D* c);
+F2D* extractFeatures(I2D* I, F2D* x, F2D* y);
+F2D* getANMS (F2D *points, int r);
+F2D* harris(I2D* im);
+I2D* matchFeatures(F2D* vecF1, F2D* vecF2);
+F2D* maxWindow(F2D* im, I2D* window);
+F2D* supress(F2D* im, F2D* im1);
+int script_stitch();
+
+#endif
+
+
+
diff --git a/SD-VBS/benchmarks/stitch/src/c/supress.c b/SD-VBS/benchmarks/stitch/src/c/supress.c
new file mode 100644
index 0000000..6fbdb6c
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/c/supress.c
@@ -0,0 +1,29 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include "stitch.h"
+
+F2D* supress(F2D* im, F2D* im1)
+{
+    int rows, cols, i, j;
+    F2D *out;
+
+    rows = im->height;
+    cols = im->width;
+
+    out = fSetArray(rows, cols, 0);
+
+    for(i=0; i<rows; i++)
+    {
+        for(j=0; j<cols; j++)
+        {
+            if( subsref(im,i,j) == subsref(im1,i,j))
+                subsref(out,i,j) = subsref(im,i,j);
+        }
+    }
+    return out;
+}
+
+
+
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/calculateH.m b/SD-VBS/benchmarks/stitch/src/matlab/calculateH.m
new file mode 100755
index 0000000..caefd74
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/calculateH.m
@@ -0,0 +1,24 @@
+function retH=calculateH(pnt1, pnt2)
+
+[n temp]=size(pnt1);
+
+X=zeros(0,8);
+b=zeros(0,1);
+
+for i=1:n
+    X=[X; pnt1(i,1) pnt1(i,2) 1 0 0 0 -pnt2(i,1)*pnt1(i,1) -pnt2(i,1)*pnt1(i,2);0, 0, 0, pnt1(i,1), pnt1(i,2), 1, -pnt2(i,2)*pnt1(i,1), -pnt2(i,2)*pnt1(i,2)];
+    b=[b; pnt2(i,1); pnt2(i,2)];
+end
+
+if n==4
+    %if abs(det(X)~=0
+        H=X^(-1)*b;
+    %else
+    %    H=[0 0 0; 0 0 0; 0 0 1];
+    %end
+else
+    Xt = X';
+    H=(Xt*X)^(-1)*Xt*b;
+end
+
+retH=[H(1) H(2) H(3);H(4) H(5) H(6);H(7) H(8) 1];
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/dist2.m b/SD-VBS/benchmarks/stitch/src/matlab/dist2.m
new file mode 100755
index 0000000..89116ac
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/dist2.m
@@ -0,0 +1,31 @@
+function n2 = dist2(x, c)
+%DIST2  Calculates squared distance between two sets of points.
+%
+%       Description
+%       D = DIST2(X, C) takes two matrices of vectors and calculates the
+%       squared Euclidean distance between them.  Both matrices must be of
+%       the same column dimension.  If X has M rows and N columns, and C has
+%       L rows and N columns, then the result has M rows and L columns.  The
+%       I, Jth entry is the  squared distance from the Ith row of X to the
+%       Jth row of C.
+%
+%       See also
+%       GMMACTIV, KMEANS, RBFFWD
+%
+
+%       Copyright (c) Christopher M Bishop, Ian T Nabney (1996, 1997)
+
+[ndata, dimx] = size(x);
+[ncentres, dimc] = size(c);
+if dimx ~= dimc
+        error('Data dimension does not match dimension of centres')
+end
+
+ct = c';
+opt = (x.^2)';
+op2t = (x.^2)';
+tempT = (ones(ncentres, 1) * sum(opt, 1))';
+n2 = tempT + ones(ndata, 1) * sum(op2t,1) - 2.*(x*ct);
+
+
+
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/extractFeatures.m b/SD-VBS/benchmarks/stitch/src/matlab/extractFeatures.m
new file mode 100755
index 0000000..38d2f7c
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/extractFeatures.m
@@ -0,0 +1,56 @@
+function vecF=extractFeatures(I, x, y, dataDir)
+
+Igray = I;
+w = (1/16)*[1 4 6 4 1];
+[n temp]=size(x);
+
+%SUB sample rate s=5
+wt = w';
+Iconv=conv2(w, wt, Igray, 'same');
+Iconv=conv2(w, wt, Iconv, 'same');
+Isub=Iconv(1:5:end,1:5:end);
+[nr nc]=size(Isub);
+    
+Xsub=min(floor(x/5)+1, nc-4);
+Ysub=min(floor(y/5)+1, nr-4);
+
+if(length(Xsub) < 6 || length(Ysub) < 10)
+    vecF = [Xsub Ysub];
+    return;
+end
+
+newSize = 4;
+[rows, cols] = size(I);
+if(rows > 32 & cols >32)
+    newSize = 64;
+end
+
+for i=1:n
+
+    minValy = 3;
+    minValx = 3;
+    if( Ysub(i) < 4)
+        Ysub(i) = 4;
+    end
+    if( Xsub(i) < 4)
+        Xsub(i) = 4;
+    end
+
+    if( Ysub(i) > size(Isub,1)-4)
+        Ysub(i) = size(Isub,1)-4;
+    end
+    if( Xsub(i) > size(Isub,2)-4)
+        Xsub(i) = size(Isub,2)-4;
+    end
+    
+    vecF(i,:)=reshape(Isub(Ysub(i)-minValy:Ysub(i)+4,Xsub(i)-minValx:Xsub(i)+4),1,newSize);
+
+    %normalization
+    vecF(i,:)=vecF(i,:)-mean(vecF(i,:));
+    vecF(i,:)=vecF(i,:)/std(vecF(i,:));
+    %imagesc(reshape(vecF(i,:),8,8)); colormap gray
+    %drawnow
+    %pause    
+end
+
+
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/getANMS.m b/SD-VBS/benchmarks/stitch/src/matlab/getANMS.m
new file mode 100755
index 0000000..caece31
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/getANMS.m
@@ -0,0 +1,25 @@
+function [interestPnts]=getANMS(x, y, v, r, dataDir)
+%interestPnts=[x y v]
+MAX_LIMIT=100000000;
+C_ROBUST=0.9;
+r_sq=r^2;
+points=[x y v];
+[n temp]=size(v);
+[srtdV srtdVIdx]=sort(v,'descend');
+srtdPnts=points(srtdVIdx,:);
+
+interestPnts=zeros(0,3);
+
+suppressR=ones(n,1)*MAX_LIMIT;
+supId=find(suppressR>r_sq);
+
+iter = 0;
+while length(supId)>0
+    interestPnts=[interestPnts; srtdPnts(supId(1),:)];
+    srtdPnts=srtdPnts(supId(2:end),:);
+    suppressR=suppressR(supId(2:end),:);
+    
+    suppressR=min(suppressR,(C_ROBUST*interestPnts(end,3)>srtdPnts(:,3)).*((srtdPnts(:,1)-interestPnts(end,1)).^2 + (srtdPnts(:,2)-interestPnts(end,2)).^2)+(C_ROBUST*interestPnts(end,3)<=srtdPnts(:,3))*MAX_LIMIT);
+    supId=find(suppressR>r_sq);
+    iter = iter + 1;
+end
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/getDirParamLocal.m b/SD-VBS/benchmarks/stitch/src/matlab/getDirParamLocal.m
new file mode 100755
index 0000000..7b36886
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/getDirParamLocal.m
@@ -0,0 +1,4 @@
+function DIR_PARAM=getDirParam
+DIR_PARAM.main_dir=pwd;
+DIR_PARAM.data_dir=fullfile(DIR_PARAM.main_dir,'data');
+DIR_PARAM.report_dir=fullfile(DIR_PARAM.main_dir,'report');
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/harris.m b/SD-VBS/benchmarks/stitch/src/matlab/harris.m
new file mode 100755
index 0000000..423330e
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/harris.m
@@ -0,0 +1,37 @@
+
+% Sample code for detecting Harris corners, following 
+% Brown et al, CVPR 2005
+%        by Alyosha Efros, so probably buggy...
+
+function [x,y,v] = harris(im, dataDir);
+
+g1 = [1,4,6,4,1; 4,16,24,16,4;6,24,36,24,6;4,16,24,16,4;1,4,6,4,1]/256;
+g2 = [1,2,1;2,4,2;1,2,1]/16;
+
+img1 = conv2(im,g1,'same');  % blur image with sigma_d
+     
+Ix = conv2(img1,[-0.5 0 0.5],'same');  % take x derivative 
+Iy = conv2(img1,[-0.5;0;0.5],'same');  % take y derivative
+
+% Compute elements of the Harris matrix H
+%%% we can use blur instead of the summing window
+Ix2 = conv2(Ix.*Ix,g2,'same');
+Iy2 = conv2(Iy.*Iy,g2,'same');
+IxIy = conv2(Ix.*Iy,g2,'same'); 
+
+R = (Ix2.*Iy2 - IxIy.*IxIy) ... % det(H) 
+    ./ (Ix2 + Iy2 + eps);       % trace(H) + epsilon
+
+% don't want corners close to image border
+[rows, cols] = size(im);
+
+% non-maxima supression within 3x3 windows
+nonmax = inline('max(x)');
+Rmax = colfilt(R,[3 3],'sliding',nonmax); % find neighbrhood max
+Rnm = R.*(R == Rmax);  % supress non-max
+
+% extract all interest points
+[y,x,v] = find(Rnm);
+
+
+
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/main.m b/SD-VBS/benchmarks/stitch/src/matlab/main.m
new file mode 100755
index 0000000..9be8504
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/main.m
@@ -0,0 +1,47 @@
+Icur_list=readData('capitol');
+Icur=Icur_list{1};
+%Icur=Icur(1:150,:,:);
+[x y v]=harris(Icur);
+interestPntsCur=getANMS(x, y, v, 24);
+Fcur=extractFeatures(Icur, interestPntsCur(:,1), interestPntsCur(:,2));
+
+for id=2:length(Icur_list)
+    Iprev=Icur;
+    Fprev=Fcur;
+    interestPntsPrev=interestPntsCur;
+    Icur=Icur_list{id};
+    %Icur=Icur(1:150,:,:);
+    [x y v]=harris(Icur);
+    %showInterestPoints(I, x, y)
+    interestPntsCur=getANMS(x, y, v, 16);
+    %showInterestPoints(I, interestPnts(:,1), interestPnts(:,2))
+    Fcur=extractFeatures(Icur, interestPntsCur(:,1), interestPntsCur(:,2));
+    matchedPntsIdx=matchFeatures(Fprev, Fcur);
+    matchedPntsPrev=interestPntsPrev(matchedPntsIdx(:,1),:);
+    matchedPntsCur=interestPntsCur(matchedPntsIdx(:,2),:);
+    
+    %subplot(1,2,1);showInterestPoints(Iprev, matchedPntsPrev(:,1), matchedPntsPrev(:,2));axis image
+    %subplot(1,2,2);showInterestPoints(Icur, matchedPntsCur(:,1), matchedPntsCur(:,2));axis image
+    %drawnow
+    %pause;
+    %printImage(['featureMatching' int2str(id-1) '_' int2str(id)]);
+    [retH retPntsIdx]=ransac(matchedPntsPrev, matchedPntsCur, 10000, 100);  
+    subplot(2,2,1);showInterestPoints(Iprev, matchedPntsPrev(retPntsIdx,1), matchedPntsPrev(retPntsIdx,2));axis image
+    subplot(2,2,2);showInterestPoints(Icur, matchedPntsCur(retPntsIdx,1), matchedPntsCur(retPntsIdx,2));axis image
+    T=maketform('projective', retH');
+    Tfn_Mat=T;
+    [nr nc nd]=size(Iprev);
+    Itrans=imtransform(Iprev,T,'XData', [1 nc], 'YData', [1 nr],'FillValues',[0;0;0]);
+    subplot(2,2,3);imshow(Itrans)    
+    subplot(2,2,4);imagesc(rgb2gray(abs(Icur-Itrans)))
+    drawnow
+    pause;
+    printImage(['ransac' int2str(id-1) '_' int2str(id)]);
+end
+
+    %[Itrans2 XData YData]=imtransform(Iprev,T,'FillValues',[0;0;0]);
+    %for the fast iteration
+    %[Itrans2 XData2 YData2]=imtransform(Iprev,T,'XData', [-2*nc 2*nc], 'YData', [-2*nr 2*nr],'FillValues',[0;0;0]);
+
+    %h=imshow(Itrans);
+
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/matchFeatures.m b/SD-VBS/benchmarks/stitch/src/matlab/matchFeatures.m
new file mode 100755
index 0000000..7af77e0
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/matchFeatures.m
@@ -0,0 +1,13 @@
+function retMatch=matchFeatures(vecF1, vecF2)
+[n1 temp]=size(vecF1);
+[n2 temp]=size(vecF2);
+
+retMatch=zeros(0,2);
+
+for i=1:n1
+    [val id]=sort(dist2(vecF1(i,:),vecF2));
+    if val(2)~=0 & val(1)/val(2)<0.65
+        retMatch=[retMatch; i id(1)];
+    end
+end
+        
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/pics/matched_base_cur.jpg b/SD-VBS/benchmarks/stitch/src/matlab/pics/matched_base_cur.jpg
new file mode 100644
index 0000000..a4bd68b
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/pics/matched_base_cur.jpg
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/pics/ransaced_feat.jpg b/SD-VBS/benchmarks/stitch/src/matlab/pics/ransaced_feat.jpg
new file mode 100644
index 0000000..821ca11
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/pics/ransaced_feat.jpg
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/printImage.m b/SD-VBS/benchmarks/stitch/src/matlab/printImage.m
new file mode 100755
index 0000000..82e74f0
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/printImage.m
@@ -0,0 +1,2 @@
+function printImage(fname, DIR_PARAM)
+print('-djpeg', fullfile(DIR_PARAM, [fname '.jpg']));
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/ransac.m b/SD-VBS/benchmarks/stitch/src/matlab/ransac.m
new file mode 100755
index 0000000..4a3c364
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/ransac.m
@@ -0,0 +1,19 @@
+function [retH retPntsIdx]=ransac(pntsPrev, pntsCur, k, epsilon)
+[n temp]=size(pntsPrev);
+pntsPrev=[pntsPrev(:,1:2) ones(n,1)];
+pntsCur=[pntsCur(:,1:2) ones(n,1)];
+
+inlierIdx=cell(k,1);
+inlierNum=zeros(k,1);
+for i=1:k
+    seed=randperm(n);
+    H=calculateH(pntsPrev(seed(1:4),:), pntsCur(seed(1:4),:));
+    err=(pntsCur-transformH(H,pntsPrev));
+    inlierIdx{i}=find(sum(err(:,1:2).^2,2) < epsilon);
+    inlierNum=length(inlierIdx{i});
+end
+
+[v maxIdx]=max(inlierNum);
+retPntsIdx=inlierIdx{maxIdx};
+retH=calculateH(pntsPrev(retPntsIdx,:), pntsCur(retPntsIdx,:));
+
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/readData.m b/SD-VBS/benchmarks/stitch/src/matlab/readData.m
new file mode 100755
index 0000000..19643bb
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/readData.m
@@ -0,0 +1,9 @@
+function retImgs=readData(imgName, dataDir)
+fn=fullfile(dataDir, imgName, '*.jpg');
+filelist=dir(fn);
+
+retImgs=cell(length(filelist),1);
+for i=1:length(filelist)
+    retImgs{i}=imread(fullfile(dataDir, imgName, filelist(i).name));
+end
+
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/script_run_profile.m b/SD-VBS/benchmarks/stitch/src/matlab/script_run_profile.m
new file mode 100755
index 0000000..f2ca68b
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/script_run_profile.m
@@ -0,0 +1,38 @@
+function script_run_profile(dataDir, resultDir, type, common, toolDir)
+
+path(path, common);
+image_list = 1;
+
+elapsed = zeros(1,2);
+for i=1:image_list
+    Icur = readImage([dataDir, '/', num2str(i) ,'.bmp']);
+        rows = size(Icur,1);
+        cols = size(Icur,2);    
+        fprintf(1,'Input size\t\t- (%dx%d)\n', rows, cols);
+
+    %% Self check params
+    tol = 1;
+
+    %% Timing
+    start = photonStartTiming;
+    
+    [x y v]=harris(Icur,dataDir);
+    interestPntsCur=getANMS(x, y, v, 24, dataDir);
+    Fcur=extractFeatures(Icur, interestPntsCur(:,1), interestPntsCur(:,2), dataDir);
+    
+    %% Timing
+    stop = photonEndTiming;
+
+    temp = photonReportTiming(start, stop);
+    elapsed(1) = elapsed(1) + temp(1);
+    elapsed(2) = elapsed(2) + temp(2);
+
+
+end
+
+%% Self checking
+fWriteMatrix(Fcur, dataDir);
+
+%% Timing
+photonPrintTiming(elapsed);
+
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/showInterestPoints.m b/SD-VBS/benchmarks/stitch/src/matlab/showInterestPoints.m
new file mode 100755
index 0000000..487cae4
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/showInterestPoints.m
@@ -0,0 +1,7 @@
+function showInterestPoints(im, x, y)
+% show 'em
+imagesc(im);
+colormap(gray);
+hold on;
+plot(x,y,'r.');
+hold off;
\ No newline at end of file
diff --git a/SD-VBS/benchmarks/stitch/src/matlab/transformH.m b/SD-VBS/benchmarks/stitch/src/matlab/transformH.m
new file mode 100755
index 0000000..7a22eb8
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/matlab/transformH.m
@@ -0,0 +1,13 @@
+function retPnts=transformH(H, pnts)
+MAX_LIMIT=10000000;
+[n temp]=size(pnts);
+ 
+pntsT = pnts';
+retPnts=(H*pntsT)';
+for i=1:n
+    if retPnts(i,3)~=0
+        retPnts(i,:)=retPnts(i,:)./retPnts(i,3);
+    else
+        retPnts(i,:)=[MAX_LIMIT MAX_LIMIT 1];
+    end
+end