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, 47 insertions, 0 deletions

diff --git a/SD-VBS/common/toolbox/lagrcv/test/test_lk_opencv.m b/SD-VBS/common/toolbox/lagrcv/test/test_lk_opencv.m
new file mode 100755
index 0000000..9cfd1ae
--- /dev/null
+++ b/SD-VBS/common/toolbox/lagrcv/test/test_lk_opencv.m
@@ -0,0 +1,47 @@
+addpath ~/Matlab/Toolbox/lagrcv/
+addpath ~/Matlab/Toolbox/toolbox_basic/filter
+addpath ~/Matlab/Toolbox/ikkjin/
+
+IMAGE_DIR='/data/insecure/images/ants/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')
+%Iprev=imread(fullfile(IMAGE_DIR,filelist(img_idx_prev(1)).name));
+%%
+imgName=fullfile(IMAGE_DIR,filelist(img_idx_cur(1)).name);
+Icur=imread(imgName);
+%%
+Icur=smooth(double(rgb2gray(Icur)), 4);
+%%
+Icur=Icur(1:2:end,1:2:end);
+
+[ features numvalid ] = goodFeaturesToTrack(Icur, 0.3, 10);
+features=features(:,1:numvalid);
+
+figure(1);
+imagesc(Icur);colormap gray
+hold on;scatter(features(2,:), features(1,:), 'r+'); hold off;
+
+%%
+for iter=img_idx_cur
+    Iprev=Icur;
+    Icur=imread(fullfile(IMAGE_DIR,filelist(img_idx_cur(iter)).name));      
+    Icur=calcImgBlurMex(rgb2gray(Icur));
+    
+    tic
+        [ newpoints status pyr1 ] = calcOpticalFlowPyrLK(Iprev,Icur,features);    
+    toc
+    newpoints=newpoints(:,find(status));
+    figure(1);
+    imagesc(Icur);colormap gray
+    hold on;scatter(newpoints(2,:), newpoints(1,:), 'r+'); hold off;    
+    drawnow
+    print('-djpeg', sprintf('result/result_%03d', iter))
+    %pause
+    features=newpoints;
+end