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, 24 insertions, 0 deletions

diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/projectedGrid.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/projectedGrid.m
new file mode 100755
index 0000000..561a7d0
--- /dev/null
+++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/projectedGrid.m
@@ -0,0 +1,24 @@
+function [XX,H] = projectedGrid ( P1, P2, P3, P4 , nx, ny);
+
+% new formalism using homographies
+
+a00 = [P1;1];
+a10 = [P2;1];
+a11 = [P3;1];
+a01 = [P4;1];
+
+% Compute the planart collineation:
+
+[H] = compute_collineation (a00, a10, a11, a01);
+
+
+% Build the grid using the planar collineation:
+
+x_l = ((0:(nx-1))'*ones(1,ny))/(nx-1);
+y_l = (ones(nx,1)*(0:(ny-1)))/(ny-1);
+
+pts = [x_l(:) y_l(:) ones(nx*ny,1)]';
+
+XX = H*pts;
+
+XX = XX(1:2,:) ./ (ones(2,1)*XX(3,:));