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.

1 files changed, 77 insertions, 0 deletions

diff --git a/SD-VBS/common/toolbox/lagrcv/calcOpticalFlowPyrLK.cc b/SD-VBS/common/toolbox/lagrcv/calcOpticalFlowPyrLK.cc
new file mode 100755
index 0000000..d4be5ff
--- /dev/null
+++ b/SD-VBS/common/toolbox/lagrcv/calcOpticalFlowPyrLK.cc
@@ -0,0 +1,77 @@
+
+/* compile with 
+   mex calcOpticalFlowPyrLK.cc -I/usr/local/opencv/include -L/usr/local/opencv/lib -lcxcore -lcv
+*/
+
+#include "mex.h"
+#include "opencv/cv.h"
+#include "opencv/highgui.h"
+#include <stdio.h>
+#include <math.h>
+
+#define WIN_SIZE 8
+#define PYR_LEVELS 3
+
+void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) {
+  // usage: [ newpoints status pyr1 ] = 
+  //     calcOpticalFlowPyrLK(im1,im2,oldpoints,pyr1)
+  // images must be single-channel, 8-bit
+  // DO NOT PASS SAME IMAGE IN TWICE!
+
+  char *im1_ptr = (char*)mxGetPr(prhs[0]);
+  char *im2_ptr = (char*)mxGetPr(prhs[1]);
+  const int *imdims = mxGetDimensions(prhs[0]);
+  IplImage *pyr1 = 0, *pyr2 = 0;
+  int flags = 0;
+  bool clearPyr1 = false;
+  int max_iter;
+
+  max_iter=30;
+
+  /* images */
+  IplImage *im1 = 
+    cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_8U, 1);
+  IplImage *im2 = 
+    cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_8U, 1);
+  im1->imageData = im1_ptr;
+  im2->imageData = im2_ptr;
+
+  /* allocate pyramids */
+  pyr1 = cvCreateImageHeader(cvSize(imdims[0],imdims[1]), IPL_DEPTH_8U, 1);
+  pyr2 = cvCreateImageHeader(cvSize(imdims[0],imdims[1]), IPL_DEPTH_8U, 1);
+  // reuse pyramid if given
+  if (nrhs > 3) {
+    pyr1->imageData = (char*)mxGetPr(prhs[3]);
+    flags |= CV_LKFLOW_PYR_A_READY;
+  } else {
+    clearPyr1 = true;
+    cvCreateData(pyr1);
+  }
+
+  // pyr2 will be reused, so allocate in return value
+  plhs[2] = mxCreateNumericMatrix(imdims[0], imdims[1], mxUINT8_CLASS, mxREAL);
+  pyr2->imageData = (char*)mxGetPr(plhs[2]);
+
+  /* coordinate arrays */
+  CvPoint2D32f *oldpoints = (CvPoint2D32f*)mxGetPr(prhs[2]);
+  const int *pointsdim = mxGetDimensions(prhs[2]);
+  int npoints = pointsdim[1];
+  plhs[0] = mxCreateNumericMatrix(2, npoints, mxSINGLE_CLASS, mxREAL);
+  CvPoint2D32f *newpoints = (CvPoint2D32f*)mxGetPr(plhs[0]);
+
+  /* status array */
+  plhs[1] = mxCreateNumericMatrix(1, npoints, mxUINT8_CLASS, mxREAL);
+  char *status = (char*)mxGetPr(plhs[1]);
+  
+  cvCalcOpticalFlowPyrLK(im1, im2, 
+                         pyr1, pyr2,
+                         oldpoints, newpoints, npoints,
+                         cvSize(WIN_SIZE, WIN_SIZE), PYR_LEVELS,
+                         status, 
+                         NULL,
+                         cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,max_iter,0.03),
+                         flags
+                         );
+  if (clearPyr1) 
+    cvReleaseImage(&pyr1);
+}