From d17b33131c14864bd1eae275f49a3f148e21cf29 Mon Sep 17 00:00:00 2001
From: Leo Chan <leochanj@live.unc.edu>
Date: Thu, 22 Oct 2020 01:53:21 -0400
Subject: 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.
---
 SD-VBS/benchmarks/stitch/src/c/getANMS.c | 145 +++++++++++++++++++++++++++++++
 1 file changed, 145 insertions(+)
 create mode 100644 SD-VBS/benchmarks/stitch/src/c/getANMS.c

(limited to 'SD-VBS/benchmarks/stitch/src/c/getANMS.c')

diff --git a/SD-VBS/benchmarks/stitch/src/c/getANMS.c b/SD-VBS/benchmarks/stitch/src/c/getANMS.c
new file mode 100644
index 0000000..fa03a85
--- /dev/null
+++ b/SD-VBS/benchmarks/stitch/src/c/getANMS.c
@@ -0,0 +1,145 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include "stitch.h"
+
+F2D* getANMS (F2D *points, int r)
+{
+  unsigned int MAX_LIMIT = 10000000;
+  F2D *suppressR;
+  float C_ROBUST = 0.9;
+  F2D *srtdPnts;
+  int n, k;
+  I2D *srtdVIdx, *supId;
+  float r_sq, t, t1;
+  F2D *tempF, *srtdV, *interestPnts;
+  int i, j, validCount=0, cnt, end;
+  F2D *v;
+    int iter, rows, cols;
+    F2D* temp;
+    int supIdPtr = 0;
+
+  v = fMallocHandle(points->height, 1);
+  for(i=0; i<v->height; i++)
+      asubsref(v,i) = subsref(points,i,2);
+
+  r_sq = r * r * 1.0;
+  n = v->height;
+
+    srtdVIdx = fSortIndices (v, 1);
+    srtdPnts = fMallocHandle (srtdVIdx->height, points->width);
+
+    for (i = 0; i < srtdVIdx->height; i++)
+        for(j=0; j<points->width; j++)
+            subsref(srtdPnts,i,j) = subsref(points, asubsref(srtdVIdx,i), j);
+
+    temp = fSetArray (1, 3, 0);
+    suppressR = fSetArray(n, 1, MAX_LIMIT);
+
+    validCount = 0;
+    iter = 0;
+    for (i = 0; i < suppressR->height; i++)
+    {
+	    if ( asubsref(suppressR,i) > r_sq)
+        {
+            validCount++;
+        }
+    }
+   
+    k = 0;
+    supId = iMallocHandle(validCount, 1);
+    for (i = 0; i < (suppressR->height*suppressR->width); i++)
+    {
+        if ( asubsref(suppressR,i) > r_sq)
+        {
+            asubsref(supId,k++) = i;
+        }
+    }
+         
+    while (validCount > 0)
+    {
+        F2D *tempp, *temps;
+        asubsref(temp,0) = subsref(srtdPnts, asubsref(supId,0), 0);
+        asubsref(temp,1) = subsref(srtdPnts, asubsref(supId,0), 1);
+        asubsref(temp,2) = subsref(srtdPnts, asubsref(supId,0), 2);
+       
+        if(iter == 0)
+            interestPnts = fDeepCopy(temp);
+        else
+        {
+            tempp = fDeepCopy(interestPnts);
+            fFreeHandle(interestPnts); 
+            interestPnts = ffVertcat(tempp, temp);
+            fFreeHandle(tempp);
+        }
+        iter++;
+
+        tempp = fDeepCopy(srtdPnts);
+        temps = fDeepCopy(suppressR);
+
+        fFreeHandle(srtdPnts);
+        fFreeHandle(suppressR);
+
+        srtdPnts = fMallocHandle(supId->height-1, 3);
+        suppressR = fMallocHandle(supId->height-1, 1);
+        
+        k=0;
+        for(i=1; i<supId->height; i++)
+        {
+            subsref(srtdPnts,k,0) = subsref(tempp, asubsref(supId,i) ,0);
+            subsref(srtdPnts,k,1) = subsref(tempp, asubsref(supId,i) ,1);
+            subsref(srtdPnts,k,2) = subsref(tempp, asubsref(supId,i) ,2);
+            subsref(suppressR,k,0) = subsref(temps, asubsref(supId,i) ,0);
+            k++;
+        }
+         
+        fFreeHandle(tempp);
+        fFreeHandle(temps);
+        rows = interestPnts->height-1;
+        cols = interestPnts->width;
+        for (i = 0; i < srtdPnts->height; i++)
+	    {
+    	    t = 0;
+	        t1 = 0;
+
+	        if ((C_ROBUST * subsref(interestPnts,rows,2)) >= subsref(srtdPnts, i,2))
+	        {
+        		t = subsref(srtdPnts, i,0) - subsref(interestPnts,rows,0);
+        		t1 = subsref(srtdPnts, i,1) - subsref(interestPnts,rows,1);
+        		t = t * t + t1 * t1;
+                t1 = 0;
+            }
+
+	        if ((C_ROBUST * subsref(interestPnts,rows,2)) < subsref(srtdPnts, i,2))
+    	        t1 = 1 * MAX_LIMIT;
+
+	        if ( asubsref(suppressR, i) > (t + t1))
+            {
+	            asubsref(suppressR, i) = t + t1;
+            }  
+        }
+        
+        validCount=0;
+        for (i = 0; i < suppressR->height; i++)
+	        if ( asubsref(suppressR,i) > r_sq)
+                validCount++;
+   
+        k = 0;
+        iFreeHandle(supId);
+        supId = iMallocHandle(validCount, 1);
+        
+        for (i = 0; i < suppressR->height*suppressR->width; i++)
+            if ( asubsref(suppressR,i) > r_sq)
+                asubsref(supId,k++) = i;
+    }
+  
+    iFreeHandle(supId);
+    iFreeHandle(srtdVIdx);
+    fFreeHandle(srtdPnts);
+    fFreeHandle(temp);
+    fFreeHandle(suppressR);
+    fFreeHandle(v);
+
+    return interestPnts;
+}
-- 
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