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.

74 files changed, 977 insertions, 0 deletions

diff --git a/SD-VBS/benchmarks/tracking/Makefile b/SD-VBS/benchmarks/tracking/Makefile
new file mode 100644
index 0000000..60cc0ec
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/Makefile
@@ -0,0 +1,3 @@
+include ../../common/makefiles/Makefile.include
+include $(MAKEFILE_COMMON_DIR)/Makefile.recurse
+
diff --git a/SD-VBS/benchmarks/tracking/data/Makefile b/SD-VBS/benchmarks/tracking/data/Makefile
new file mode 100644
index 0000000..ba33d35
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/Makefile
@@ -0,0 +1,3 @@
+include ../../../common/makefiles/Makefile.include
+include $(MAKEFILE_COMMON_DIR)/Makefile.recurse
+
diff --git a/SD-VBS/benchmarks/tracking/data/cif/1.bmp b/SD-VBS/benchmarks/tracking/data/cif/1.bmp
new file mode 100644
index 0000000..6744178
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/cif/1.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/cif/2.bmp b/SD-VBS/benchmarks/tracking/data/cif/2.bmp
new file mode 100644
index 0000000..8c2ac57
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/cif/2.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/cif/3.bmp b/SD-VBS/benchmarks/tracking/data/cif/3.bmp
new file mode 100644
index 0000000..b7195fb
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/cif/3.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/cif/4.bmp b/SD-VBS/benchmarks/tracking/data/cif/4.bmp
new file mode 100644
index 0000000..9f0525a
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/cif/4.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/cif/5.bmp b/SD-VBS/benchmarks/tracking/data/cif/5.bmp
new file mode 100644
index 0000000..2f88c26
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/cif/5.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/cif/Makefile b/SD-VBS/benchmarks/tracking/data/cif/Makefile
new file mode 100644
index 0000000..1be9797
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/cif/Makefile
@@ -0,0 +1,7 @@
+INPUT=cif
+include ../../../../common/makefiles/Makefile.include
+
+BMARK=tracking
+include $(MAKEFILE_COMMON_DIR)/Makefile.common
+
+
diff --git a/SD-VBS/benchmarks/tracking/data/cif/expected.m b/SD-VBS/benchmarks/tracking/data/cif/expected.m
new file mode 100644
index 0000000..679cea9
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/cif/expected.m
@@ -0,0 +1,2 @@
+269.915165      175.828888      195.635312      172.654409      268.516358      289.931921      267.230697      190.086741      
+147.986242      145.928399      148.067509      130.441486      124.919389      64.008098       131.967361      162.460857      
diff --git a/SD-VBS/benchmarks/tracking/data/cif/expected_C.txt b/SD-VBS/benchmarks/tracking/data/cif/expected_C.txt
new file mode 100644
index 0000000..7830dcf
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/cif/expected_C.txt
@@ -0,0 +1,2 @@
+268.790955      174.657776      196.000320      105.132706      172.262695      267.902679      288.945984      266.680359      190.432159      
+146.301788      144.757889      146.543549      105.004868      130.337677      123.515228      63.038971       130.751785      160.921051      
diff --git a/SD-VBS/benchmarks/tracking/data/fullhd/1.bmp b/SD-VBS/benchmarks/tracking/data/fullhd/1.bmp
new file mode 100644
index 0000000..3db2ad6
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/fullhd/1.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/fullhd/2.bmp b/SD-VBS/benchmarks/tracking/data/fullhd/2.bmp
new file mode 100644
index 0000000..9ff8e9c
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/fullhd/2.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/fullhd/3.bmp b/SD-VBS/benchmarks/tracking/data/fullhd/3.bmp
new file mode 100644
index 0000000..ec53ae6
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/fullhd/3.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/fullhd/4.bmp b/SD-VBS/benchmarks/tracking/data/fullhd/4.bmp
new file mode 100644
index 0000000..c45c5e9
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/fullhd/4.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/fullhd/Makefile b/SD-VBS/benchmarks/tracking/data/fullhd/Makefile
new file mode 100644
index 0000000..2b37182
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/fullhd/Makefile
@@ -0,0 +1,7 @@
+INPUT=fullhd
+include ../../../../common/makefiles/Makefile.include
+
+BMARK=tracking
+include $(MAKEFILE_COMMON_DIR)/Makefile.common
+
+
diff --git a/SD-VBS/benchmarks/tracking/data/fullhd/expected.m b/SD-VBS/benchmarks/tracking/data/fullhd/expected.m
new file mode 100644
index 0000000..eb034f0
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/fullhd/expected.m
@@ -0,0 +1,2 @@
+1487.193453     720.553084      1481.188344     382.962678      
+308.382612      306.797105      323.948844      369.542919      
diff --git a/SD-VBS/benchmarks/tracking/data/fullhd/expected_C.txt b/SD-VBS/benchmarks/tracking/data/fullhd/expected_C.txt
new file mode 100644
index 0000000..5608349
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/fullhd/expected_C.txt
@@ -0,0 +1,2 @@
+1486.424561     732.003601      1482.234131     380.614441      
+307.157501      334.762909      319.129578      367.587006      
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/1.bmp b/SD-VBS/benchmarks/tracking/data/qcif/1.bmp
new file mode 100644
index 0000000..140ace2
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/qcif/1.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/10.bmp b/SD-VBS/benchmarks/tracking/data/qcif/10.bmp
new file mode 100644
index 0000000..61518bc
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/qcif/10.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/2.bmp b/SD-VBS/benchmarks/tracking/data/qcif/2.bmp
new file mode 100644
index 0000000..8e1f7cc
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/qcif/2.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/3.bmp b/SD-VBS/benchmarks/tracking/data/qcif/3.bmp
new file mode 100644
index 0000000..95fe31f
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/qcif/3.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/4.bmp b/SD-VBS/benchmarks/tracking/data/qcif/4.bmp
new file mode 100644
index 0000000..464608a
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/qcif/4.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/5.bmp b/SD-VBS/benchmarks/tracking/data/qcif/5.bmp
new file mode 100644
index 0000000..71eb1b7
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/qcif/5.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/6.bmp b/SD-VBS/benchmarks/tracking/data/qcif/6.bmp
new file mode 100644
index 0000000..83e5379
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/qcif/6.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/7.bmp b/SD-VBS/benchmarks/tracking/data/qcif/7.bmp
new file mode 100644
index 0000000..95b4015
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/qcif/7.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/8.bmp b/SD-VBS/benchmarks/tracking/data/qcif/8.bmp
new file mode 100644
index 0000000..8847887
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/qcif/8.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/9.bmp b/SD-VBS/benchmarks/tracking/data/qcif/9.bmp
new file mode 100644
index 0000000..4301f11
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/qcif/9.bmp
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/Makefile b/SD-VBS/benchmarks/tracking/data/qcif/Makefile
new file mode 100644
index 0000000..fb48d25
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/qcif/Makefile
@@ -0,0 +1,7 @@
+INPUT=qcif
+include ../../../../common/makefiles/Makefile.include
+
+BMARK=tracking
+include $(MAKEFILE_COMMON_DIR)/Makefile.common
+
+
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/expected.m b/SD-VBS/benchmarks/tracking/data/qcif/expected.m
new file mode 100644
index 0000000..65c5984
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/qcif/expected.m
@@ -0,0 +1,2 @@
+142.858025      145.068198      102.770607      141.110282      90.859800       135.351851      80.185357       113.844268      117.388158      142.126183      80.877169