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, 76 insertions, 0 deletions

diff --git a/SD-VBS/common/toolbox/lagrcv/lk_flow.cc b/SD-VBS/common/toolbox/lagrcv/lk_flow.cc
new file mode 100755
index 0000000..c083048
--- /dev/null
+++ b/SD-VBS/common/toolbox/lagrcv/lk_flow.cc
@@ -0,0 +1,76 @@
+
+/* compile with 
+   lk_flow.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>
+
+void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) {
+  // usage: [ velx vely ] = lk_flow(image1,image2,winsize)
+  // images must be single-channel, 8-bit
+
+  const int *backwards_imdims = mxGetDimensions(prhs[0]);
+  int imdims[2] = { backwards_imdims[1], backwards_imdims[0] };
+  int winsize = (int)mxGetScalar(prhs[2]);
+  plhs[0] = mxCreateNumericArray(2, imdims, mxSINGLE_CLASS, mxREAL);
+  plhs[1] = mxCreateNumericArray(2, imdims, mxSINGLE_CLASS, mxREAL);
+
+  printf("imsize %d %d\n", imdims[0], imdims[1]);
+
+  IplImage *im1 = 
+    cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_8U, 1);
+  IplImage *im2 = 
+    cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_8U, 1);
+  IplImage *flow_x = 
+    cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_32F, 1);
+  IplImage *flow_y = 
+    cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_32F, 1);
+  
+  im1->imageData = (char*)mxGetPr(prhs[0]);
+  im2->imageData = (char*)mxGetPr(prhs[1]);
+  flow_x->imageData = (char*)mxGetPr(plhs[0]);
+  flow_y->imageData = (char*)mxGetPr(plhs[1]);
+
+  cvCalcOpticalFlowLK(im1, im2, cvSize(winsize,winsize), flow_x, flow_y);
+
+  for (int row = 0; row < imdims[0]; row += 10) {
+    for (int col = 0; col < imdims[1]; col += 10) {
+      cvLine(im1, cvPoint(col,row),
+             cvPoint(int(col + flow_x->imageData[imdims[1] * row + col]), 
+                     int(row + flow_y->imageData[imdims[1] * row + col])),
+             CV_RGB(1,0,0),
+             1,
+             CV_AA,
+             0);
+             
+    }
+  }
+
+  cvDestroyAllWindows();
+  cvNamedWindow("imfoo",CV_WINDOW_AUTOSIZE);
+  //  IplImage *myim = cvLoadImage("lena.jpg", -1);
+    cvShowImage("imfoo",im1);
+  //    cvShowImage("imfoo",myim);
+    cvWaitKey(0);
+
+  //  cvCircle(flow_x, cvPoint( 40, 20), 15, CV_RGB(10,100,100), 5);
+
+  /*
+  FILE* filefx = fopen("fx.pgm", "w");
+  FILE* filefy = fopen("fy.pgm", "w");
+  fprintf(filefx, "P5\n%d %d\n255\n", imdims[1], imdims[0]);
+  fprintf(filefy, "P5\n%d %d\n255\n", imdims[1], imdims[0]);
+  float *ptr = (float*)flow_x->imageData;
+  for (int i = 0; i < imdims[1] * imdims[0]; i++) {
+    //    if (fabs(++ptr*) > 0.1) 
+    if (fabs(*ptr++) > 0.1) fprintf(filefx, "1");
+    else fprintf(filefx, "0");
+  }
+  fclose(filefx);
+  fclose(filefy);
+  */
+}