From f618466c25d43f3bae9e40920273bf77de1e1149 Mon Sep 17 00:00:00 2001
From: leochanj105 <leochanj@live.unc.edu>
Date: Mon, 19 Oct 2020 23:09:30 -0400
Subject: initial sd-vbs

initial sd-vbs

add sd-vbs

sd-vbs
---
 SD-VBS/benchmarks/tracking/src/matlab/Filtering.m  |  30 ++++
 .../benchmarks/tracking/src/matlab/calcAreaSum.m   |  48 ++++++
 .../tracking/src/matlab/calcGoodFeature.m          |  28 ++++
 .../tracking/src/matlab/calcPyrLKTrack.m           | 108 +++++++++++++
 SD-VBS/benchmarks/tracking/src/matlab/calcSobel.m  |  74 +++++++++
 .../tracking/src/matlab/getInterpolatePatch.m      |  22 +++
 SD-VBS/benchmarks/tracking/src/matlab/getPyramid.m |  10 ++
 SD-VBS/benchmarks/tracking/src/matlab/imageBlur.m  |  36 +++++
 .../benchmarks/tracking/src/matlab/imageResize.m   |  50 ++++++
 .../tracking/src/matlab/rgb2gray_f2_f3.m           |  16 ++
 .../tracking/src/matlab/script_run_profile.m       | 178 +++++++++++++++++++++
 11 files changed, 600 insertions(+)
 create mode 100755 SD-VBS/benchmarks/tracking/src/matlab/Filtering.m
 create mode 100755 SD-VBS/benchmarks/tracking/src/matlab/calcAreaSum.m
 create mode 100755 SD-VBS/benchmarks/tracking/src/matlab/calcGoodFeature.m
 create mode 100755 SD-VBS/benchmarks/tracking/src/matlab/calcPyrLKTrack.m
 create mode 100755 SD-VBS/benchmarks/tracking/src/matlab/calcSobel.m
 create mode 100755 SD-VBS/benchmarks/tracking/src/matlab/getInterpolatePatch.m
 create mode 100755 SD-VBS/benchmarks/tracking/src/matlab/getPyramid.m
 create mode 100755 SD-VBS/benchmarks/tracking/src/matlab/imageBlur.m
 create mode 100755 SD-VBS/benchmarks/tracking/src/matlab/imageResize.m
 create mode 100755 SD-VBS/benchmarks/tracking/src/matlab/rgb2gray_f2_f3.m
 create mode 100755 SD-VBS/benchmarks/tracking/src/matlab/script_run_profile.m

(limited to 'SD-VBS/benchmarks/tracking/src/matlab')

diff --git a/SD-VBS/benchmarks/tracking/src/matlab/Filtering.m b/SD-VBS/benchmarks/tracking/src/matlab/Filtering.m
new file mode 100755
index 0000000..d42ebb7
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/matlab/Filtering.m
@@ -0,0 +1,30 @@
+function imageOut = Filtering(imageIn, rows, cols, kernel, kernelSize)
+
+imageOut = zeros(rows, cols);%initalize output image to all zeros
+imageIn = double(imageIn);%convert to double to allow image arithmetic
+
+ intialCol = ((kernelSize+1)/2);
+ endCol = round(cols - ((kernelSize+1)/2));
+ halfKernel = (kernelSize-1)/2;
+ 
+ initialRow = ((kernelSize+1)/2);
+ endRow = (rows - ((kernelSize+1)/2));
+ 
+ %% Start 1-D filtering row-wise first.
+ 
+ for i=initialRow:endRow
+     for j=initialCol:endCol
+     imageOut(i,j) = sum(imageIn(i,j-halfKernel:j+halfKernel).*kernel)/sum(kernel);%actual filtering step
+     end
+ end
+ 
+ %% Start 1-D filtering col-wise first.
+ 
+% kernelT = kernel';
+% for i=initialRow:endRow
+%     for j=initialCol:endCol
+%     imageOut(i,j) = sum(imageOut(i-halfKernel:i+halfKernel,j).*kernelT)/sum(kernel);%kernel to be transposed for performing multiplcation
+%     end
+% end
+% 
+% %imshow(uint8(imageOut));
diff --git a/SD-VBS/benchmarks/tracking/src/matlab/calcAreaSum.m b/SD-VBS/benchmarks/tracking/src/matlab/calcAreaSum.m
new file mode 100755
index 0000000..f8dd3da
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/matlab/calcAreaSum.m
@@ -0,0 +1,48 @@
+%calcAreaSum:
+% sizeX = cols
+% sizeY = rows
+function ret = calcAreaSum(src, sizeX, sizeY, winSize, dataDir)
+
+src = double(src);
+nave = winSize;
+nave_half = floor((nave+1)/2);
+a1=zeros(1,sizeX+nave);
+    
+for i=1:sizeY
+	%pull out one row
+	for j=1:sizeX
+		a1(j+nave_half)=src(i,j);
+	end
+
+	a1sum=0;
+	%sum up values within a window
+	for k=1:nave
+		a1sum = a1sum+a1(k);
+	end
+
+	for j=1:sizeX
+		ret(i,j) = a1sum;
+		a1sum = a1sum + a1(j+nave) - a1(j);
+	end
+end
+
+a1=zeros(1,sizeY+nave);
+for i=1:sizeX
+
+	%pull out one col
+	for j=1:sizeY
+		a1(j+nave_half)=ret(j,i);
+	end
+
+	a1sum=0;
+	%sum up values within a window
+	for k=1:nave
+		a1sum = a1sum+a1(k);
+	end
+
+	for j=1:sizeY
+		ret(j,i) = a1sum;
+		a1sum = a1sum + a1(j+nave) - a1(j);
+	end
+end
+
diff --git a/SD-VBS/benchmarks/tracking/src/matlab/calcGoodFeature.m b/SD-VBS/benchmarks/tracking/src/matlab/calcGoodFeature.m
new file mode 100755
index 0000000..b83faa6
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/matlab/calcGoodFeature.m
@@ -0,0 +1,28 @@
+%calcGoodFeature:
+
+function [lambda, tr, det,c_xx, c_xy, c_yy] = calcGoodFeature(dX, dY, sizeX, sizeY, winSize, dataDir) 
+
+    for i=1:sizeY
+        for j=1:sizeX
+    		xx(i,j)=dX(i,j)*dX(i,j);
+        	xy(i,j)=dX(i,j)*dY(i,j);
+            yy(i,j)=dY(i,j)*dY(i,j);
+        end
+    end
+    
+	c_xx=calcAreaSum(xx, sizeX, sizeY, winSize,dataDir);
+    c_xy=calcAreaSum(xy, sizeX, sizeY, winSize,dataDir);
+	c_yy=calcAreaSum(yy, sizeX, sizeY, winSize,dataDir);
+ 
+	for i=1:sizeY
+        for j=1:sizeX
+    		tr(i,j)= c_xx(i,j)+c_yy(i,j);
+        	det(i,j)= c_xx(i,j)*c_yy(i,j)-c_xy(i,j)*c_xy(i,j);
+%             if( tr(i,j) == 0 )
+%                 lambda(i,j) = 0;
+%             else
+                lambda(i,j)=det(i,j)/(tr(i,j) + 0.00001);
+%            end
+        end
+    end
+ 
diff --git a/SD-VBS/benchmarks/tracking/src/matlab/calcPyrLKTrack.m b/SD-VBS/benchmarks/tracking/src/matlab/calcPyrLKTrack.m
new file mode 100755
index 0000000..c965c2b
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/matlab/calcPyrLKTrack.m
@@ -0,0 +1,108 @@
+function [newFPnt, valid] = calcPyrLKTrack(iP, iDxP, iDyP, jP, fPnt, nFeatures, winSize, accuracy_th, max_iter)
+	
+cellDims = size(iP);
+GOOD_FEATURE_LAMBDA_TH = accuracy_th;
+
+for i=1:(cellDims(1))
+    curImgDims = size(iP{i});
+  	imgDims(i,1)= curImgDims(1);
+  	imgDims(i,2)= curImgDims(2);
+
+end
+
+pLevel = cellDims(1);
+
+rate=[1, 0.5, 0.25, 0.125, 0.0625, 0.03125];
+winSizeSq=4*winSize*winSize;
+iPatch=cell(1, winSizeSq);
+jPatch=cell(1, winSizeSq);
+iDxPatch=cell(1,winSizeSq);
+iDyPatch=cell(1,winSizeSq);
+
+valid(1:nFeatures) = 1;
+newFPnt = zeros(2,nFeatures);
+
+for i=1:nFeatures
+
+    dX=0;
+    dY=0;
+
+%% x is rows here and y is cols
+    
+    x=fPnt(1,i)*rate(pLevel+1);                 %half size of real level
+    y=fPnt(2,i)*rate(pLevel+1);
+
+    for level=pLevel:-1:1
+
+        x = x+x;
+        y = y+y;
+        dX = dX+dX;
+        dY = dY+dY;
+        imgSize(1)=imgDims(level,1); %y,x		
+        imgSize(2)=imgDims(level,2); %y,x		
+
+        c_xx = 0;
+        c_xy = 0;
+        c_yy = 0;
+            
+        %when feature goes out to the boundary.
+
+        if ((x-winSize)<1 || (y-winSize)<1 || (y+winSize+1)>imgSize(1) || (x+winSize+1)>imgSize(2))
+            %winSize+1due to interpolation
+            %error or skip the level??
+            valid(i) = 0;
+            break;
+        end
+
+        
+        iPatch = getInterpolatePatch(iP{level}, imgSize(1), imgSize(2), x, y, winSize);
+        iDxPatch = getInterpolatePatch(iDxP{level}, imgSize(1), imgSize(2), x, y, winSize);
+        iDyPatch = getInterpolatePatch(iDyP{level}, imgSize(1), imgSize(2), x, y, winSize);
+
+        for idx=1:winSizeSq
+            c_xx = c_xx + iDxPatch(idx) * iDxPatch(idx);
+            c_xy = c_xy + iDxPatch(idx) * iDyPatch(idx);
+            c_yy = c_yy + iDyPatch(idx) * iDyPatch(idx);
+        end
+
+        c_det = c_xx * c_yy - c_xy * c_xy;
+        
+        if (c_det/(c_xx+c_yy+0.00001)) < GOOD_FEATURE_LAMBDA_TH
+            valid(i)=0;
+            break;
+        end
+
+        c_det=1/c_det;
+
+        for k=1:max_iter
+            if ((x+dX-winSize)<1 || (y+dY-winSize)<1 || (y+dY+winSize+1)>imgSize(1) || (x+dX+winSize+1)>imgSize(2))
+                %winSize+1due to interpolation
+                %error or skip the level??
+                valid(i)=0;
+                break;
+            end
+
+            jPatch = getInterpolatePatch(jP{level}, imgSize(1), imgSize(2), x+dX, y+dY, winSize);
+            eX = 0;
+            eY = 0;
+            for idx=1:winSizeSq
+                dIt = iPatch(idx) - jPatch(idx);
+                eX = eX + (dIt*iDxPatch(idx));
+                eY = eY + (dIt*iDyPatch(idx));
+            end
+
+            mX = c_det*(eX*c_yy-eY*c_xy);
+            mY = c_det*(-eX*c_xy+eY*c_xx);
+            dX = dX + mX;
+            dY = dY + mY;
+
+
+            if ((mX*mX+mY*mY)<accuracy_th)
+                break;
+            end
+        end
+    end
+    
+    newFPnt(1, i) = fPnt(1,i)+dX;
+    newFPnt(2, i) = fPnt(2,i)+dY;
+end
diff --git a/SD-VBS/benchmarks/tracking/src/matlab/calcSobel.m b/SD-VBS/benchmarks/tracking/src/matlab/calcSobel.m
new file mode 100755
index 0000000..8617c25
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/matlab/calcSobel.m
@@ -0,0 +1,74 @@
+function [Dx, Dy] = calcSobel(imageIn)
+
+imsize = size(imageIn);
+rows = imsize(1);
+cols = imsize(2);
+
+Dx = zeros(rows, cols);     %initalize output image to all zeros
+Dy = zeros(rows, cols);     %initalize output image to all zeros
+imageIn = double(imageIn);  %convert to double to allow image arithmetic
+
+kernel_1 = [1 2 1];
+kernel_2 = [1 0 -1];
+kernelSize = 3;
+
+sum_kernel_1 = 4;
+sum_kernel_2 = 2;
+
+startCol = 2;           %((kernelSize+1)/2);
+endCol = cols - 1;      %round(cols - ((kernelSize+1)/2));
+halfKernel = 1;         %(kernelSize-1)/2;
+
+startRow = 2;           %((kernelSize+1)/2);
+endRow = rows - 1;      %(rows - ((kernelSize+1)/2));
+
+%imshow(uint8(imageIn));
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%% Calculate Gx (gradient in X-dir)
+%% Gx = ([1 2 1]') * ([1 0 -1] * imageIn)
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%% Start 1-D filtering row-wise first.
+
+tempOut = zeros(rows, cols);%initalize temp image to all zeros
+for i=startRow:endRow
+   for j=startCol:endCol
+       tempOut(i,j) = sum(imageIn(i,j-halfKernel:j+halfKernel).*kernel_2)/sum_kernel_2;%actual filtering step
+   end
+end
+
+% Start 1-D filtering col-wise first.
+
+for i=startRow:endRow
+   for j=startCol:endCol
+       Dx(i,j) = sum(tempOut(i-halfKernel:i+halfKernel,j).*kernel_1')/sum_kernel_1;%kernel to be transposed for performing multiplcation
+       Dx(i,j) = Dx(i,j);% + 128;
+   end
+end
+
+
+%imshow(uint8(Dx));
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%% Calculate Gy (gradient in Y-dir)
+%% Gy = ([1 0 -1]') * ([1 2 1] * imageIn)
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%% Start 1-D filtering row-wise first.
+
+for i=startRow:endRow
+    for j=startCol:endCol
+        tempOut(i,j) = sum(imageIn(i-halfKernel:i+halfKernel,j).*kernel_2')/sum_kernel_2;%kernel to be transposed for performing multiplcation
+    end
+end
+
+for i=startRow:endRow
+    for j=startCol:endCol
+        Dy(i,j) = sum(tempOut(i,j-halfKernel:j+halfKernel).*kernel_1)/sum_kernel_1;
+    end
+end
+
+
+%imshow(uint8(Dy));
diff --git a/SD-VBS/benchmarks/tracking/src/matlab/getInterpolatePatch.m b/SD-VBS/benchmarks/tracking/src/matlab/getInterpolatePatch.m
new file mode 100755
index 0000000..d0a64d3
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/matlab/getInterpolatePatch.m
@@ -0,0 +1,22 @@
+function [dstImg] = getInterpolatePatch(srcImg,rows, cols,centerX,centerY,winSize)
+
+a=centerX-floor(centerX);
+b=centerY-floor(centerY);
+a11=(1-a)*(1-b);
+a12=a*(1-b);
+a21=(1-a)*b;
+a22=a*b;
+
+for i=-winSize:winSize-1
+	srcIdxx=floor(centerY)+i;
+	dstIdxx=i+winSize+1;
+	for j=-winSize:winSize-1
+		srcIdx = srcIdxx * cols + floor(centerX) + j;
+   		dstIdx = dstIdxx*2*winSize+j+winSize+1;
+		dstImg(dstIdx)=srcImg(srcIdxx, floor(centerX)+j)*a11;
+        dstImg(dstIdx)= dstImg(dstIdx) + srcImg(srcIdxx, floor(centerX)+j+1)*a12;
+        dstImg(dstIdx)= dstImg(dstIdx) + srcImg(srcIdxx+1, floor(centerX)+j)*a21;
+        dstImg(dstIdx)= dstImg(dstIdx) + srcImg(srcIdxx+1, floor(centerX)+j+1)*a22;
+    end
+end
+
diff --git a/SD-VBS/benchmarks/tracking/src/matlab/getPyramid.m b/SD-VBS/benchmarks/tracking/src/matlab/getPyramid.m
new file mode 100755
index 0000000..845456a
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/matlab/getPyramid.m
@@ -0,0 +1,10 @@
+function pyr=getPyramid(img, level)
+kernel=[1/16,1/4,3/8,1/4,1/16];
+pyr=cell(level,1);
+pyr{1}=double(img);
+for i=2:level
+%    imgBlur=conv2(pyr{i-1}, kernel, 'same');
+%    imgBlur=conv2(imgBlur, kernel, 'same');
+%    pyr{i}=imgBlur(1:2:end, 1:2:end);
+    pyr{i}=calcResizedImgMex(pyr{i-1});
+end
diff --git a/SD-VBS/benchmarks/tracking/src/matlab/imageBlur.m b/SD-VBS/benchmarks/tracking/src/matlab/imageBlur.m
new file mode 100755
index 0000000..fd6c199
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/matlab/imageBlur.m
@@ -0,0 +1,36 @@
+function imageOut = imageBlur(imageIn)
+
+imsize = size(imageIn);
+rows = imsize(1);
+cols = imsize(2);
+
+imageOut = zeros(rows, cols);%initalize output image to all zeros
+imageIn = double(imageIn);%convert to double to allow image arithmetic
+
+kernel = [1 4 6 4 1];
+kernelSize = 5;
+
+startCol = 3;       %((kernelSize+1)/2);
+endCol = cols - 2;  %round(cols - ((kernelSize+1)/2));
+halfKernel = 2;     %(kernelSize-1)/2;
+
+startRow = 3;       %((kernelSize+1)/2);
+endRow = rows - 2;  %(rows - ((kernelSize+1)/2));
+
+%% Start 1-D filtering row-wise first.
+
+tempOut = zeros(rows, cols);%initalize temp image to all zeros
+for i=startRow:endRow
+    for j=startCol:endCol
+        tempOut(i,j) = sum(imageIn(i,j-halfKernel:j+halfKernel).*kernel)/sum(kernel);%actual filtering step
+    end
+end
+
+%% Start 1-D filtering col-wise first.
+
+for i=startRow:endRow
+    for j=startCol:endCol
+    imageOut(i,j) = sum(tempOut(i-halfKernel:i+halfKernel,j).*kernel')/sum(kernel);%kernel to be transposed for performing multiplcation
+    end
+end
+
diff --git a/SD-VBS/benchmarks/tracking/src/matlab/imageResize.m b/SD-VBS/benchmarks/tracking/src/matlab/imageResize.m
new file mode 100755
index 0000000..e5fa7b8
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/matlab/imageResize.m
@@ -0,0 +1,50 @@
+function [imageOut] = imageResize(imageIn)
+
+ imageIn = double(imageIn);
+ imsize = size(imageIn);
+ rows = imsize(1);
+ cols = imsize(2);
+ 
+ %% level 1 is the base image.
+ 
+ outputRows = floor((rows+1)/2);
+ outputCols = floor((cols+1)/2);
+ 
+ kernel = [1,4,6,4,1];
+ kernelSize = 5;
+ 
+ temp = zeros(rows, outputCols);%initalize output image to all zeros
+ imageOut = zeros(outputRows, outputCols);%initalize output image to all zeros
+ imageIn = double(imageIn);%convert to double to allow image arithmetic
+ 
+ initialCol = 3;        %((kernelSize+1)/2);
+ endCol = cols - 2;     %round(cols - ((kernelSize+1)/2));
+ halfKernel = 2;        %(kernelSize-1)/2;
+ 
+ initialRow = 3;        %((kernelSize+1)/2);
+ endRow = rows - 2;     %(rows - ((kernelSize+1)/2));
+
+ %% Start 1-D filtering row-wise first.
+ 
+ for i=initialRow:endRow
+     k = 1;
+     for j=initialCol:2:endCol
+         temp(i,k) = sum(imageIn(i,j-halfKernel:j+halfKernel).*kernel)/sum(kernel);%actual filtering step
+         k = k+1;
+     end
+ end
+ 
+ %imshow(uint8(temp));
+ 
+ %% Start 1-D filtering col-wise first.
+% 
+ kernelT = kernel';
+ j = 1;
+ for i=initialRow:2:endRow
+     for k=1:outputCols
+         imageOut(j,k) = sum(temp(i-halfKernel:i+halfKernel,k).*kernelT)/sum(kernel);%kernel to be transposed for performing multiplcation
+     end
+     j = j + 1;
+ end
+ 
+% %imshow(uint8(imageOut));
diff --git a/SD-VBS/benchmarks/tracking/src/matlab/rgb2gray_f2_f3.m b/SD-VBS/benchmarks/tracking/src/matlab/rgb2gray_f2_f3.m
new file mode 100755
index 0000000..23397a3
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/matlab/rgb2gray_f2_f3.m
@@ -0,0 +1,16 @@
+%! _rgb2gray_f2_f3
+
+function grayImage = rgb2gray_f2_f3(colorImage)
+
+%0.2989 * R + 0.5870 * G + 0.1140 * B
+rows = size(colorImage, 1);
+cols = size(colorImage, 2);
+rgb = size(colorImage, 3);
+
+grayImage = zeros(rows, cols);
+for i = 1:rows
+    for j = 1:cols
+        grayImage(i,j) = 0.2989 * colorImage(i,j,1) + 0.5870 * colorImage(i,j,2) + 0.1140 * colorImage(i,j,3);
+    end
+end
+    
\ No newline at end of file
diff --git a/SD-VBS/benchmarks/tracking/src/matlab/script_run_profile.m b/SD-VBS/benchmarks/tracking/src/matlab/script_run_profile.m
new file mode 100755
index 0000000..62d367f
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/matlab/script_run_profile.m
@@ -0,0 +1,178 @@
+function script_run_profile(dataDir, resultDir, type, common, toolDir)
+
+if(~isdeployed)
+    addpath(fullfile(toolDir, '/lagrcv/'));
+    addpath(fullfile(toolDir, '/toolbox_basic/filter/'));
+    addpath(fullfile(toolDir, '/ikkjin/'));
+end
+IMAGE_DIR=dataDir;
+
+path(path,common); 
+
+tol = 2;
+
+%% Input params
+N_FEA=1600;
+WINSZ=4; %size of sum-up window
+NO_PYR=2;
+SUPPRESION_RADIUS=10;
+LK_ITER=20;
+counter = 2;
+accuracy = 0.03;
+
+if(strcmp(type,'test'))
+    WINSZ = 2;
+    N_FEA = 10;
+    LK_ITER = 2;
+    counter = 2;
+    accuracy = 0.1;
+elseif(strcmp(type, 'sim_fast'))
+    WINSZ = 2;
+    N_FEA = 100;
+    LK_ITER = 2;
+    counter = 4;
+elseif(strcmp(type,'sim'))
+    WINSZ = 2;
+    N_FEA = 200;
+    LK_ITER = 2;
+    counter = 4;
+elseif(strcmp(type,'sqcif'))
+    WINSZ = 8;
+    N_FEA = 500;
+    LK_ITER = 15;
+    counter = 2;
+elseif(strcmp(type, 'qcif'))
+    WINSZ = 12;
+    N_FEA = 400;
+    LK_ITER = 15;
+    counter = 4;
+elseif(strcmp(type,'cif'))
+    WINSZ = 20;
+    N_FEA = 500;
+    LK_ITER = 20;
+    counter = 4;
+elseif(strcmp(type, 'vga'))
+    WINSZ = 32;
+    N_FEA = 400;
+    LK_ITER = 20;
+    counter = 4;
+elseif(strcmp(type,'fullhd'))
+    WINSZ = 48;
+    N_FEA = 500;
+    LK_ITER = 20;
+    counter = 4;
+elseif(strcmp(type,'wuxga'))
+    WINSZ = 64;
+    N_FEA = 500;
+    LK_ITER = 20;
+    counter = 4;
+end
+
+imgName = [dataDir, '/1.bmp'];
+Icur=readImage(imgName);
+
+[rows,cols] = size(Icur);
+fprintf(1,'Input size\t\t- (%dx%d)\n', rows, cols);
+
+%% Timing
+start = photonStartTiming;
+
+Icur = imageBlur(double(Icur));
+
+ Jpyr = cell(2,1);
+ Jpyr{1} = Icur;
+ Jpyr{2} = imageResize(Icur);
+
+ [dX, dY] = calcSobel(double(Icur));
+ sizeWin = size(dX);
+ [lambda, tr, det, c_xx, c_xy, c_yy] = calcGoodFeature(dX, dY, sizeWin(2), sizeWin(1), WINSZ, dataDir);
+
+imgsz=size(lambda);
+lambda([1:WINSZ,end-WINSZ:end],:)=0;
+lambda(:,[1:WINSZ,end-WINSZ:end])=0;
+
+[temp,idx]=sort(lambda(:), 'descend');
+featureIdx=idx(1:N_FEA);
+features=zeros(3, N_FEA);
+features(1,:)=ceil(featureIdx/imgsz(1));
+
+fIdxT = featureIdx';
+features(2,:)=fIdxT-(features(1,:)-1)*imgsz(1);
+features(3,:)=lambda(featureIdx);
+
+for i=1:N_FEA
+    features(3,i) = lambda(idx(i));
+end
+
+f1T = features(1,:)';
+f2T = features(2,:)';
+f3T = features(3,:)';
+
+interestPnt=getANMS(f1T, f2T, f3T, SUPPRESION_RADIUS, dataDir);
+
+interestPnt=interestPnt';
+features=interestPnt(1:2,:);
+    
+%% Timing
+endC = photonEndTiming;
+elapsed = photonReportTiming(start, endC);
+
+for iter=1:counter
+    imgName = [dataDir, '/', num2str(iter),  '.bmp'];
+    Iprev=Icur;
+    Icur=readImage(imgName);
+    
+    %% Self check params
+    tol = 0.1;
+    %% Timing
+    start = photonStartTiming;
+
+    Icur = imageBlur(double(Icur));
+    
+    Ipyr=Jpyr;
+    
+    Jpyr = cell(2,1);
+    Jpyr{1} = Icur;
+    Jpyr{2} = imageResize(Icur);
+
+    dxPyr = cell(2,1);
+    dyPyr = cell(2,1);
+     
+    [dxPyr{1}, dyPyr{1}] = calcSobel(Jpyr{1});
+    [dxPyr{2}, dyPyr{2}] = calcSobel(Jpyr{2});
+    
+    sizeWin = size(dxPyr{2});
+    nFeatures = size(features);
+     
+    [newpoints, currStatus] = calcPyrLKTrack(Ipyr, dxPyr, dyPyr, Jpyr, double(features), nFeatures(2), WINSZ, 0.03, LK_ITER);
+    
+    newpoints=newpoints(:,find(currStatus));
+
+    %% Timing
+    stop = photonEndTiming;
+
+    temp = photonReportTiming(start, stop);
+    elapsed(1) = elapsed(1) + temp(1);
+    elapsed(2) = elapsed(2) + temp(2);
+
+%      figure(1);
+%      imagesc(Icur);colormap gray
+%      hold on;
+%      scatter(newpoints(1,:), newpoints(2,:), 'r+');
+%      hold off;    
+%      drawnow
+%     
+    features=newpoints;
+
+end
+    
+%% Self checking
+fWriteMatrix(features, dataDir);
+
+photonPrintTiming(elapsed);
+
+if(~isdeployed)
+    rmpath(fullfile(toolDir, '/lagrcv/'));
+    rmpath(fullfile(toolDir, '/toolbox_basic/filter/'));
+    rmpath(fullfile(toolDir, '/ikkjin/'));
+end
-- 
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