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, 54 insertions, 0 deletions

diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/UnWarpPlane.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/UnWarpPlane.m
new file mode 100755
index 0000000..8addf52
--- /dev/null
+++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/UnWarpPlane.m
@@ -0,0 +1,54 @@
+function  [u_hori,u_vert] = UnWarpPlane(x1,x2,x3,x4);
+
+% Recovers the two 3D directions of the rectangular patch x1x2x3x4
+% x1 is the origin point, ie any point of planar coordinate (x,y) on the
+% rectangular patch will be projected on the image plane at:
+% x1 + x * u_hori + y * u_vert
+%
+% Note: u_hori and u_vert are also the two vanishing points.
+
+
+if nargin < 4,
+   
+   x4 = x1(:,4);
+   x3 = x1(:,3);
+   x2 = x1(:,2);
+   x1 = x1(:,1);
+   
+end;
+
+
+% Image Projection:
+L1 = cross(x1,x2);
+L2 = cross(x4,x3);
+L3 = cross(x2,x3);
+L4 = cross(x1,x4);
+
+% Vanishing point:
+V1 = cross(L1,L2);
+V2 = cross(L3,L4);
+
+% Horizon line:
+H = cross(V1,V2);
+
+if H(3) < 0, H  = -H; end;
+
+
+H = H / norm(H);
+
+
+X1 = x1 / dot(H,x1);
+X2 = x2 / dot(H,x2);
+X3 = x3 / dot(H,x3);
+X4 = x4 / dot(H,x4);
+
+scale = X1(3);
+
+X1 = X1/scale;
+X2 = X2/scale;
+X3 = X3/scale;
+X4 = X4/scale;
+
+
+u_hori = X2 - X1;
+u_vert = X4 - X1;