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, 49 insertions, 0 deletions

diff --git a/SD-VBS/common/toolbox/lagrcv/test/test_lk_disp.m b/SD-VBS/common/toolbox/lagrcv/test/test_lk_disp.m
new file mode 100755
index 0000000..2d55fe3
--- /dev/null
+++ b/SD-VBS/common/toolbox/lagrcv/test/test_lk_disp.m
@@ -0,0 +1,49 @@
+addpath /u/ikkjin/Matlab/Toolbox/lagrcv
+
+%Iprev=imread('/Projects/LAGR/logs/Test5/left_APIrun530-1/l24Aug05-abacination-1124876208.403311.ppm');
+%Icur=imread('/Projects/LAGR/logs/Test5/left_APIrun530-1/l24Aug05-abacination-1124876208.670013.ppm');
+Iprev=imread('img0.ppm');
+Icur=imread('img1.ppm');
+
+Iprev=rgb2gray(Iprev);
+Icur=rgb2gray(Icur);
+
+tic
+ [ features numvalid ] = goodFeaturesToTrack(Iprev, 0.3, 10);
+toc
+subplot(1,2,1);imshow(Iprev)
+hold on
+scatter(features(2,:),features(1,:),'r')
+
+Ipyr=getPyramid(Iprev, 3);
+Jpyr=getPyramid(Icur, 3);
+tic
+[dxPyr2 dyPyr2]=calcGradientPyrMex(Ipyr,3);
+toc
+tic
+[dxPyr dyPyr]=calcSobelPyrMex(Ipyr,3);
+toc
+
+features=features(:,1:211);
+for i=20
+ features2=[features(2,:); features(1,:)];
+tic
+ [ newpoints status pyr1 ] = calcOpticalFlowPyrLK(Iprev,Icur,features, i);    
+toc
+tic
+ [newpoints2 status]=calcOptFlowLKPyrMex(Ipyr, dxPyr, dyPyr, Jpyr, double(features2), 4, 0.03, i); 
+toc
+ newpoints2=[newpoints2(2,:); newpoints2(1,:)];
+features_out=features(:,find(status));
+newpoints=newpoints(:,find(status));
+newpoints2=newpoints2(:,find(status));
+subplot(1,2,1);imshow(Iprev);hold on
+quiver(features_out(2,:),features_out(1,:), newpoints(2,:)-features_out(2,:), newpoints(1,:)-features_out(1,:),0,'r');hold off
+subplot(1,2,2);imshow(Iprev);hold on
+quiver(features_out(2,:),features_out(1,:), newpoints2(2,:)-features_out(2,:), newpoints2(1,:)-features_out(1,:),0,'r');hold off
+%subplot(1,2,2);imshow(Icur);hold on
+%scatter(newpoints2(2,:),newpoints2(1,:),'r');hold off
+%sum(sum((newpoints-newpoints2).^2))
+
+pause
+end