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, 74 insertions, 0 deletions

diff --git a/SD-VBS/common/toolbox/lagrcv/test/test_lk.m b/SD-VBS/common/toolbox/lagrcv/test/test_lk.m
new file mode 100755
index 0000000..c6ca701
--- /dev/null
+++ b/SD-VBS/common/toolbox/lagrcv/test/test_lk.m
@@ -0,0 +1,74 @@
+addpath ~/Matlab/Toolbox/lagrcv/
+addpath ~/Matlab/Toolbox/toolbox_basic/filter
+addpath ~/Matlab/Toolbox/ikkjin/
+
+N_FEA=1600;
+WINSZ=8; %size of sum-up window
+NO_PYR=2;
+SUPPRESION_RADIUS=10;
+LK_ITER=20;
+IMAGE_DIR='~/backup/Research/ant/Transport/'
+filelist=dir(fullfile(IMAGE_DIR, '*.jpg'));
+flen=length(filelist);
+
+img_idx_cur=[1:flen];
+
+%subplot(1,2,1);imshow(Iprev)
+%/hold on
+%//scatter(features(2,:),features(1,:),'r')
+%%
+imgName=fullfile(IMAGE_DIR,filelist(img_idx_cur(1)).name);
+Icur=imread(imgName);
+Icur=rgb2gray(Icur);
+Icur=calcImgBlurMex(double(Icur));
+%%
+
+Jpyr=getPyramid(Icur, 2);
+
+[lambda tr det c_xx c_xy c_yy] =calcTextureMex(double(Icur), WINSZ);
+imgsz=size(lambda);
+lambda([1:8 end-8:end],:)=0;
+lambda(:,[1:8 end-8:end])=0;
+[temp idx]=sort(lambda(:), 'descend');
+
+%%
+featureIdx=idx(1:N_FEA);
+features=zeros(3, N_FEA);
+features(1,:)=ceil(featureIdx/imgsz(1));
+features(2,:)=featureIdx'-(features(1,:)-1)*imgsz(1);
+features(3,:)=lambda(featureIdx);
+
+imagesc(lambda); hold on
+scatter(features(1,:), features(2,:), 'r+');hold off
+%%
+interestPnt=getANMS(features(1,:)', features(2,:)', features(3,:)', SUPPRESION_RADIUS);
+interestPnt=interestPnt';
+scatter(interestPnt(1,:), interestPnt(2,:), 'g+')
+%%
+features=interestPnt(1:2,:);
+%%
+
+for iter=img_idx_cur
+    Iprev=Icur;
+    Icur=imread(fullfile(IMAGE_DIR,filelist(img_idx_cur(iter)).name));      
+    Icur=rgb2gray(Icur);
+    Icur=calcImgBlurMex(double(Icur));
+    
+    Ipyr=Jpyr;
+    Jpyr=getPyramid(Icur, 2);
+
+    [dxPyr dyPyr]=calcSobelPyrMex(Ipyr,2);
+
+    [lambda tr det c_xx c_xy c_yy] =  calcTexturePyrMex(dxPyr, dyPyr, WINSZ, NO_PYR);
+
+    [newpoints status]=calcOptFlowLKPyrMex(Ipyr, dxPyr, dyPyr, Jpyr, double(features), 4, 0.03, LK_ITER, c_xx, c_xy, c_yy); 
+
+    newpoints=newpoints(:,find(status));
+    figure(1);
+    imagesc(Icur);colormap gray
+    hold on;scatter(newpoints(1,:), newpoints(2,:), 'r+'); hold off;    
+    drawnow
+    %print('-djpeg', sprintf('result/result_%03d', iter))    
+    %pause
+    features=newpoints;    
+end