1 files changed, 0 insertions, 209 deletions

diff --git a/SD-VBS/benchmarks/localization/src/matlab/script_run_profile.m b/SD-VBS/benchmarks/localization/src/matlab/script_run_profile.m
deleted file mode 100644
index 44ce3aa..0000000
--- a/SD-VBS/benchmarks/localization/src/matlab/script_run_profile.m
+++ /dev/null
@@ -1,209 +0,0 @@
-function script_run_profile(dataDir, resultDir, type, common, toolDir)
-
-path(path, common);
-file = fopen([dataDir, '/1.txt'], 'r');
-full = fscanf(file,'%f');
-elapsed = zeros(1,2);
-
-rows = full(2);
-cols = full(1);
-fid = zeros(rows, cols);
-
-k = 3;
-for i=1:rows
-    for j =1:cols
-        fid(i,j) = full(k);
-        k = k+1;
-    end
-end
-
-fclose(file);
-
-n=1000;
-
-gyroTimeInterval=0.01;
-acclTimeInterval=0.01;
-
-STDDEV_GPSVel=0.5;
-
-STDDEV_ODOVel=0.1;
-STDDEV_ACCL=1;
-M_STDDEV_GYRO=0.1;
-M_STDDEV_POS=0.1;
-M_STDDEV_VEL=0.02;
-
-if(strcmp(type,'test'))
-        n = 3;
-        gyroTimeInterval = 0.1;
-        acclTimeInterval = 0.1;
-        M_STDDEV_VEL = 0.2;
-    
-elseif(strcmp(type, 'sim_fast'))
-        n = 3;
-elseif(strcmp(type, 'sim'))
-        n = 10;
-elseif(strcmp(type, 'sqcif'))
-        n = 800;
-elseif(strcmp(type, 'qcif'))
-        n = 500;
-elseif(strcmp(type, 'vga'))
-        n = 2000;
-elseif(strcmp(type, 'wuxga'))
-        n = 3000;
-end
-
-fprintf(1,'Input size\t\t- (%dx%dx%d)\n', rows, cols,n);
-pos=zeros(n,3);
-
-vel=zeros(n,3) + randWrapper(n,3)*STDDEV_ODOVel;
-pi = 3.1416;
-
-eul1 = eul2quat([zeros(n,2), randWrapper(n,1)*2*pi]);
-eul2 = eul2quat([pi, 0, 0]);
-quat=quatMul(eul1, eul2);
-
-i=0;
-index = 0;
-resultMat = zeros(3,rows);
-
-while 1
-    i=i+1;
-    [tStamp, sType, sData, isEOF, index] = readSensorData(index, fid);
-
-    start = photonStartTiming;
-
-    if(sType==2)
-
-
-        %Motion model
-        gyro = sData(1, 1:3);
-        randnWrapper_mat = randnWrapper(n,3);    % KVS: We do not have function implementation for randnWrapper()
-        gyro=ones(n,1)*gyro+randnWrapper_mat*M_STDDEV_GYRO;
-
-        abc = gyro.^2;
-        abcd = sumCol(abc);
-        norm_gyro = sqrt(abcd);
-%        norm_gyro=sqrt(sum(gyro.^2,2));
-        angleAlpha=norm_gyro*gyroTimeInterval;
-        quatDelta=[cos(angleAlpha/2), gyro./(norm_gyro*ones(1,3)+0.00000001).*(sin(angleAlpha/2)*ones(1,3))];
-        quat=quatMul(quat, quatDelta);
-
-    end
-
-    if(sType==4)
-        %Observation
-        STDDEV_GPSPos=[sData(1,7), 0, 0; 0, sData(1,8), 0; 0, 0, 15];
-        Opos=sData(1,1:3);
-
-        %Initialize
-        
-        randnWrapper_mat = randnWrapper(n,3);
-        if sum(sum(pos))==0
-            pos=ones(n,1) * Opos + randnWrapper_mat*STDDEV_GPSPos;
-        else 
-           rows = size(STDDEV_GPSPos, 1);
-           cols = size(STDDEV_GPSPos, 2);
-
-            temp_STDDEV_GPSPos = ones(rows,cols);
-            for mnrows=1:rows                                 % KVS" Photon rejects this loop becasue of too many nestings ??
-                for mncols=1:cols
-                    temp_STDDEV_GPSPos(mnrows, mncols) = power(STDDEV_GPSPos(mnrows,mncols),-1);
-                end
-            end
-           [temp, w]=mcl(pos, Opos , temp_STDDEV_GPSPos);
-           [quat, vel, pos]=generateSample(w, quat, vel, pos, M_STDDEV_VEL, M_STDDEV_POS);
-       end
-
-       %compare direction
-       Ovel=sData(1,4:6);
-
-%        KVS: We do not have function for norm() yet! So replacing this operating with OvelNorm
-  
-%        OvelNorm=norm(Ovel);                               
-       OvelNorm= 2.0;  %1.1169e+09;
-       
-       if (OvelNorm>0.5)
-       
-           % KVS: Similar here: No impln of norm(), so replacing
-           % norm(Ovel) with OvelNorm value
-           
-           Ovel=Ovel/OvelNorm;
-           %trick
-           %quat=addEulNoise(quat, STDDEV_GPSVel);
-           qConj = quatConj(quat);
-            orgWorld=quatRot([1, 0, 0],qConj);
-            eye3 = [1,0,0;0,1,0;0,0,1];
-            [temp, w]=mcl(orgWorld, Ovel, eye3./STDDEV_GPSVel);
-            [quat, vel, pos]=generateSample(w, quat, vel, pos, M_STDDEV_VEL, M_STDDEV_POS);
-       end
- 
-   end
-   
-   if(sType==1)
-
-       %Observation
-       Ovel=sData(1,1);
-       [temp, w]=mcl(sqrt(vel(:,1).^2+vel(:,2).^2+vel(:,3).^2), Ovel, 1/(STDDEV_ODOVel));
-
-       [quat vel pos]=generateSample(w, quat, vel, pos, M_STDDEV_VEL, M_STDDEV_POS);
-   end
-   
-   if(sType==3)
-       %Observation
-       accl=sData(1,1:3);
-       
-       gtemp = ones(n,1) * [0 0 -9.8];
-       
-       gravity=quatRot(gtemp, quat);
-        eye3 = [1,0,0;0,1,0;0,0,1];
-        [gravity, w]=mcl(gravity, accl, eye3./(STDDEV_ACCL));
-
-        [quat, vel, pos]=generateSample(w, quat, vel, pos, M_STDDEV_VEL, M_STDDEV_POS);
-
-        %Motion model
-        accl=ones(n,1)*accl;
-        accl=accl-gravity;
-        pos=pos+quatRot(vel,quatConj(quat))*acclTimeInterval ...
-            +1/2*quatRot(accl,quatConj(quat))*acclTimeInterval^2 ...
-            +randnWrapper(n,3)*M_STDDEV_POS;
-        vel=vel+accl*acclTimeInterval+randnWrapper(n,3)*M_STDDEV_VEL;
-
-   end
-   
-    stop = photonEndTiming;
-    
-    temp = photonReportTiming(start, stop);
-    elapsed(1) = elapsed(1) + temp(1);
-    elapsed(2) = elapsed(2) + temp(2);
-
-    % Self check
-
-    quatOut = 0;
-    posOut = 0;
-    velOut = 0;
-
-    for ij=1:(size(quat,1)*size(quat,2))
-        quatOut = quatOut + quat(ij);