From 0efc775370d2ff91927d1b383a99eab78dc5538f Mon Sep 17 00:00:00 2001
From: leochanj <jbakita@cs.unc.edu>
Date: Wed, 21 Oct 2020 01:52:54 -0400
Subject: debug libextra and remove matlab

FLUSH_CACHES
---
 SD-VBS/benchmarks/tracking/data/cif/12345.txt      |   5 -
 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 ---------------------
 12 files changed, 605 deletions(-)
 delete mode 100644 SD-VBS/benchmarks/tracking/data/cif/12345.txt
 delete mode 100755 SD-VBS/benchmarks/tracking/src/matlab/Filtering.m
 delete mode 100755 SD-VBS/benchmarks/tracking/src/matlab/calcAreaSum.m
 delete mode 100755 SD-VBS/benchmarks/tracking/src/matlab/calcGoodFeature.m
 delete mode 100755 SD-VBS/benchmarks/tracking/src/matlab/calcPyrLKTrack.m
 delete mode 100755 SD-VBS/benchmarks/tracking/src/matlab/calcSobel.m
 delete mode 100755 SD-VBS/benchmarks/tracking/src/matlab/getInterpolatePatch.m
 delete mode 100755 SD-VBS/benchmarks/tracking/src/matlab/getPyramid.m
 delete mode 100755 SD-VBS/benchmarks/tracking/src/matlab/imageBlur.m
 delete mode 100755 SD-VBS/benchmarks/tracking/src/matlab/imageResize.m
 delete mode 100755 SD-VBS/benchmarks/tracking/src/matlab/rgb2gray_f2_f3.m
 delete mode 100755 SD-VBS/benchmarks/tracking/src/matlab/script_run_profile.m

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

diff --git a/SD-VBS/benchmarks/tracking/data/cif/12345.txt b/SD-VBS/benchmarks/tracking/data/cif/12345.txt
deleted file mode 100644
index 3627b7f..0000000
--- a/SD-VBS/benchmarks/tracking/data/cif/12345.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-tracking-cif none 21 none 5 16608282 12345 0 0 0
-tracking-cif none 21 none 5 13215674 12345 1 0 0
-tracking-cif none 21 none 5 13183165 12345 2 0 0
-tracking-cif none 21 none 5 13226365 12345 3 0 0
-tracking-cif none 21 none 5 13302066 12345 4 0 0
diff --git a/SD-VBS/benchmarks/tracking/src/matlab/Filtering.m b/SD-VBS/benchmarks/tracking/src/matlab/Filtering.m
deleted file mode 100755
index d42ebb7..0000000
--- a/SD-VBS/benchmarks/tracking/src/matlab/Filtering.m
+++ /dev/null
@@ -1,30 +0,0 @@
-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
deleted file mode 100755
index f8dd3da..0000000
--- a/SD-VBS/benchmarks/tracking/src/matlab/calcAreaSum.m
+++ /dev/null
@@ -1,48 +0,0 @@
-%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
deleted file mode 100755
index b83faa6..0000000
--- a/SD-VBS/benchmarks/tracking/src/matlab/calcGoodFeature.m
+++ /dev/null
@@ -1,28 +0,0 @@
-%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
deleted file mode 100755
index c965c2b..0000000
--- a/SD-VBS/benchmarks/tracking/src/matlab/calcPyrLKTrack.m
+++ /dev/null
@@ -1,108 +0,0 @@
-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
deleted file mode 100755
index 8617c25..0000000
--- a/SD-VBS/benchmarks/tracking/src/matlab/calcSobel.m
+++ /dev/null
@@ -1,74 +0,0 @@
-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
deleted file mode 100755
index d0a64d3..0000000
--- a/SD-VBS/benchmarks/tracking/src/matlab/getInterpolatePatch.m
+++ /dev/null
@@ -1,22 +0,0 @@
-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
deleted file mode 100755
index 845456a..0000000
--- a/SD-VBS/benchmarks/tracking/src/matlab/getPyramid.m
+++ /dev/null
@@ -1,10 +0,0 @@
-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
deleted file mode 100755
index fd6c199..0000000
--- a/SD-VBS/benchmarks/tracking/src/matlab/imageBlur.m
+++ /dev/null
@@ -1,36 +0,0 @@
-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
deleted file mode 100755
index e5fa7b8..0000000
--- a/SD-VBS/benchmarks/tracking/src/matlab/imageResize.m
+++ /dev/null
@@ -1,50 +0,0 @@
-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
deleted file mode 100755
index 23397a3..0000000
--- a/SD-VBS/benchmarks/tracking/src/matlab/rgb2gray_f2_f3.m
+++ /dev/null
@@ -1,16 +0,0 @@
-%! _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
deleted file mode 100755
index 62d367f..0000000
--- a/SD-VBS/benchmarks/tracking/src/matlab/script_run_profile.m
+++ /dev/null
@@ -1,178 +0,0 @@
-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
-- 
cgit v1.2.2


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/tracking/Makefile                |   3 +
 SD-VBS/benchmarks/tracking/data/Makefile           |   3 +
 SD-VBS/benchmarks/tracking/data/cif/1.bmp          | Bin 0 -> 304182 bytes
 SD-VBS/benchmarks/tracking/data/cif/2.bmp          | Bin 0 -> 304182 bytes
 SD-VBS/benchmarks/tracking/data/cif/3.bmp          | Bin 0 -> 304182 bytes
 SD-VBS/benchmarks/tracking/data/cif/4.bmp          | Bin 0 -> 304182 bytes
 SD-VBS/benchmarks/tracking/data/cif/5.bmp          | Bin 0 -> 304182 bytes
 SD-VBS/benchmarks/tracking/data/cif/Makefile       |   7 +
 SD-VBS/benchmarks/tracking/data/cif/expected.m     |   2 +
 SD-VBS/benchmarks/tracking/data/cif/expected_C.txt |   2 +
 SD-VBS/benchmarks/tracking/data/fullhd/1.bmp       | Bin 0 -> 6220854 bytes
 SD-VBS/benchmarks/tracking/data/fullhd/2.bmp       | Bin 0 -> 6220854 bytes
 SD-VBS/benchmarks/tracking/data/fullhd/3.bmp       | Bin 0 -> 6220854 bytes
 SD-VBS/benchmarks/tracking/data/fullhd/4.bmp       | Bin 0 -> 6220854 bytes
 SD-VBS/benchmarks/tracking/data/fullhd/Makefile    |   7 +
 SD-VBS/benchmarks/tracking/data/fullhd/expected.m  |   2 +
 .../benchmarks/tracking/data/fullhd/expected_C.txt |   2 +
 SD-VBS/benchmarks/tracking/data/qcif/1.bmp         | Bin 0 -> 76086 bytes
 SD-VBS/benchmarks/tracking/data/qcif/10.bmp        | Bin 0 -> 76086 bytes
 SD-VBS/benchmarks/tracking/data/qcif/2.bmp         | Bin 0 -> 76086 bytes
 SD-VBS/benchmarks/tracking/data/qcif/3.bmp         | Bin 0 -> 76086 bytes
 SD-VBS/benchmarks/tracking/data/qcif/4.bmp         | Bin 0 -> 76086 bytes
 SD-VBS/benchmarks/tracking/data/qcif/5.bmp         | Bin 0 -> 76086 bytes
 SD-VBS/benchmarks/tracking/data/qcif/6.bmp         | Bin 0 -> 76086 bytes
 SD-VBS/benchmarks/tracking/data/qcif/7.bmp         | Bin 0 -> 76086 bytes
 SD-VBS/benchmarks/tracking/data/qcif/8.bmp         | Bin 0 -> 76086 bytes
 SD-VBS/benchmarks/tracking/data/qcif/9.bmp         | Bin 0 -> 76086 bytes
 SD-VBS/benchmarks/tracking/data/qcif/Makefile      |   7 +
 SD-VBS/benchmarks/tracking/data/qcif/expected.m    |   2 +
 .../benchmarks/tracking/data/qcif/expected_C.txt   |   2 +
 SD-VBS/benchmarks/tracking/data/sim/1.bmp          | Bin 0 -> 6966 bytes
 SD-VBS/benchmarks/tracking/data/sim/2.bmp          | Bin 0 -> 6966 bytes
 SD-VBS/benchmarks/tracking/data/sim/3.bmp          | Bin 0 -> 6966 bytes
 SD-VBS/benchmarks/tracking/data/sim/4.bmp          | Bin 0 -> 6966 bytes
 SD-VBS/benchmarks/tracking/data/sim/Makefile       |   6 +
 SD-VBS/benchmarks/tracking/data/sim/expected.m     |   2 +
 SD-VBS/benchmarks/tracking/data/sim/expected_C.txt |   2 +
 SD-VBS/benchmarks/tracking/data/sim_fast/1.bmp     | Bin 0 -> 3126 bytes
 SD-VBS/benchmarks/tracking/data/sim_fast/2.bmp     | Bin 0 -> 3126 bytes
 SD-VBS/benchmarks/tracking/data/sim_fast/3.bmp     | Bin 0 -> 3126 bytes
 SD-VBS/benchmarks/tracking/data/sim_fast/4.bmp     | Bin 0 -> 3126 bytes
 SD-VBS/benchmarks/tracking/data/sim_fast/Makefile  |   6 +
 .../benchmarks/tracking/data/sim_fast/expected.m   |   2 +
 .../tracking/data/sim_fast/expected_C.txt          |   2 +
 SD-VBS/benchmarks/tracking/data/sqcif/1.bmp        | Bin 0 -> 36918 bytes
 SD-VBS/benchmarks/tracking/data/sqcif/2.bmp        | Bin 0 -> 36918 bytes
 SD-VBS/benchmarks/tracking/data/sqcif/3.bmp        | Bin 0 -> 36918 bytes
 SD-VBS/benchmarks/tracking/data/sqcif/4.bmp        | Bin 0 -> 36918 bytes
 SD-VBS/benchmarks/tracking/data/sqcif/Makefile     |   6 +
 SD-VBS/benchmarks/tracking/data/sqcif/expected.m   |   2 +
 .../benchmarks/tracking/data/sqcif/expected_C.txt  |   2 +
 SD-VBS/benchmarks/tracking/data/test/1.bmp         | Bin 0 -> 822 bytes
 SD-VBS/benchmarks/tracking/data/test/2.bmp         | Bin 0 -> 822 bytes
 SD-VBS/benchmarks/tracking/data/test/3.bmp         | Bin 0 -> 822 bytes
 SD-VBS/benchmarks/tracking/data/test/4.bmp         | Bin 0 -> 822 bytes
 SD-VBS/benchmarks/tracking/data/test/Makefile      |   5 +
 SD-VBS/benchmarks/tracking/data/test/expected.m    |   2 +
 .../benchmarks/tracking/data/test/expected_C.txt   |   2 +
 SD-VBS/benchmarks/tracking/data/test/time.txt      |   1 +
 SD-VBS/benchmarks/tracking/data/vga/1.bmp          | Bin 0 -> 921654 bytes
 SD-VBS/benchmarks/tracking/data/vga/2.bmp          | Bin 0 -> 921654 bytes
 SD-VBS/benchmarks/tracking/data/vga/3.bmp          | Bin 0 -> 921654 bytes
 SD-VBS/benchmarks/tracking/data/vga/4.bmp          | Bin 0 -> 921654 bytes
 SD-VBS/benchmarks/tracking/data/vga/Makefile       |   7 +
 SD-VBS/benchmarks/tracking/data/vga/expected.m     |   2 +
 SD-VBS/benchmarks/tracking/data/vga/expected_C.txt |   2 +
 SD-VBS/benchmarks/tracking/src/c/calcAreaSum.c     |  81 +++++++
 SD-VBS/benchmarks/tracking/src/c/calcGoodFeature.c |  78 ++++++
 SD-VBS/benchmarks/tracking/src/c/calcPyrLKTrack.c  | 179 ++++++++++++++
 SD-VBS/benchmarks/tracking/src/c/fillFeatures.c    |  67 ++++++
 SD-VBS/benchmarks/tracking/src/c/getANMS.c         | 156 ++++++++++++
 .../tracking/src/c/getInterpolatePatch.c           |  43 ++++
 SD-VBS/benchmarks/tracking/src/c/script_tracking.c | 263 +++++++++++++++++++++
 SD-VBS/benchmarks/tracking/src/c/tracking.h        |  20 ++
 74 files changed, 977 insertions(+)
 create mode 100644 SD-VBS/benchmarks/tracking/Makefile
 create mode 100644 SD-VBS/benchmarks/tracking/data/Makefile
 create mode 100644 SD-VBS/benchmarks/tracking/data/cif/1.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/cif/2.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/cif/3.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/cif/4.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/cif/5.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/cif/Makefile
 create mode 100644 SD-VBS/benchmarks/tracking/data/cif/expected.m
 create mode 100644 SD-VBS/benchmarks/tracking/data/cif/expected_C.txt
 create mode 100644 SD-VBS/benchmarks/tracking/data/fullhd/1.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/fullhd/2.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/fullhd/3.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/fullhd/4.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/fullhd/Makefile
 create mode 100644 SD-VBS/benchmarks/tracking/data/fullhd/expected.m
 create mode 100644 SD-VBS/benchmarks/tracking/data/fullhd/expected_C.txt
 create mode 100644 SD-VBS/benchmarks/tracking/data/qcif/1.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/qcif/10.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/qcif/2.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/qcif/3.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/qcif/4.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/qcif/5.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/qcif/6.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/qcif/7.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/qcif/8.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/qcif/9.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/qcif/Makefile
 create mode 100644 SD-VBS/benchmarks/tracking/data/qcif/expected.m
 create mode 100644 SD-VBS/benchmarks/tracking/data/qcif/expected_C.txt
 create mode 100644 SD-VBS/benchmarks/tracking/data/sim/1.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/sim/2.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/sim/3.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/sim/4.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/sim/Makefile
 create mode 100644 SD-VBS/benchmarks/tracking/data/sim/expected.m
 create mode 100644 SD-VBS/benchmarks/tracking/data/sim/expected_C.txt
 create mode 100644 SD-VBS/benchmarks/tracking/data/sim_fast/1.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/sim_fast/2.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/sim_fast/3.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/sim_fast/4.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/sim_fast/Makefile
 create mode 100644 SD-VBS/benchmarks/tracking/data/sim_fast/expected.m
 create mode 100644 SD-VBS/benchmarks/tracking/data/sim_fast/expected_C.txt
 create mode 100644 SD-VBS/benchmarks/tracking/data/sqcif/1.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/sqcif/2.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/sqcif/3.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/sqcif/4.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/sqcif/Makefile
 create mode 100644 SD-VBS/benchmarks/tracking/data/sqcif/expected.m
 create mode 100644 SD-VBS/benchmarks/tracking/data/sqcif/expected_C.txt
 create mode 100644 SD-VBS/benchmarks/tracking/data/test/1.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/test/2.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/test/3.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/test/4.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/test/Makefile
 create mode 100644 SD-VBS/benchmarks/tracking/data/test/expected.m
 create mode 100644 SD-VBS/benchmarks/tracking/data/test/expected_C.txt
 create mode 100644 SD-VBS/benchmarks/tracking/data/test/time.txt
 create mode 100644 SD-VBS/benchmarks/tracking/data/vga/1.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/vga/2.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/vga/3.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/vga/4.bmp
 create mode 100644 SD-VBS/benchmarks/tracking/data/vga/Makefile
 create mode 100644 SD-VBS/benchmarks/tracking/data/vga/expected.m
 create mode 100644 SD-VBS/benchmarks/tracking/data/vga/expected_C.txt
 create mode 100644 SD-VBS/benchmarks/tracking/src/c/calcAreaSum.c
 create mode 100644 SD-VBS/benchmarks/tracking/src/c/calcGoodFeature.c
 create mode 100644 SD-VBS/benchmarks/tracking/src/c/calcPyrLKTrack.c
 create mode 100644 SD-VBS/benchmarks/tracking/src/c/fillFeatures.c
 create mode 100644 SD-VBS/benchmarks/tracking/src/c/getANMS.c
 create mode 100644 SD-VBS/benchmarks/tracking/src/c/getInterpolatePatch.c
 create mode 100644 SD-VBS/benchmarks/tracking/src/c/script_tracking.c
 create mode 100644 SD-VBS/benchmarks/tracking/src/c/tracking.h

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

diff --git a/SD-VBS/benchmarks/tracking/Makefile b/SD-VBS/benchmarks/tracking/Makefile
new file mode 100644
index 0000000..60cc0ec
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/Makefile
@@ -0,0 +1,3 @@
+include ../../common/makefiles/Makefile.include
+include $(MAKEFILE_COMMON_DIR)/Makefile.recurse
+
diff --git a/SD-VBS/benchmarks/tracking/data/Makefile b/SD-VBS/benchmarks/tracking/data/Makefile
new file mode 100644
index 0000000..ba33d35
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/Makefile
@@ -0,0 +1,3 @@
+include ../../../common/makefiles/Makefile.include
+include $(MAKEFILE_COMMON_DIR)/Makefile.recurse
+
diff --git a/SD-VBS/benchmarks/tracking/data/cif/1.bmp b/SD-VBS/benchmarks/tracking/data/cif/1.bmp
new file mode 100644
index 0000000..6744178
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/cif/1.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/cif/2.bmp b/SD-VBS/benchmarks/tracking/data/cif/2.bmp
new file mode 100644
index 0000000..8c2ac57
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/cif/2.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/cif/3.bmp b/SD-VBS/benchmarks/tracking/data/cif/3.bmp
new file mode 100644
index 0000000..b7195fb
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/cif/3.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/cif/4.bmp b/SD-VBS/benchmarks/tracking/data/cif/4.bmp
new file mode 100644
index 0000000..9f0525a
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/cif/4.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/cif/5.bmp b/SD-VBS/benchmarks/tracking/data/cif/5.bmp
new file mode 100644
index 0000000..2f88c26
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/cif/5.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/cif/Makefile b/SD-VBS/benchmarks/tracking/data/cif/Makefile
new file mode 100644
index 0000000..1be9797
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/cif/Makefile
@@ -0,0 +1,7 @@
+INPUT=cif
+include ../../../../common/makefiles/Makefile.include
+
+BMARK=tracking
+include $(MAKEFILE_COMMON_DIR)/Makefile.common
+
+
diff --git a/SD-VBS/benchmarks/tracking/data/cif/expected.m b/SD-VBS/benchmarks/tracking/data/cif/expected.m
new file mode 100644
index 0000000..679cea9
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/cif/expected.m
@@ -0,0 +1,2 @@
+269.915165	175.828888	195.635312	172.654409	268.516358	289.931921	267.230697	190.086741	
+147.986242	145.928399	148.067509	130.441486	124.919389	64.008098	131.967361	162.460857	
diff --git a/SD-VBS/benchmarks/tracking/data/cif/expected_C.txt b/SD-VBS/benchmarks/tracking/data/cif/expected_C.txt
new file mode 100644
index 0000000..7830dcf
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/cif/expected_C.txt
@@ -0,0 +1,2 @@
+268.790955	174.657776	196.000320	105.132706	172.262695	267.902679	288.945984	266.680359	190.432159	
+146.301788	144.757889	146.543549	105.004868	130.337677	123.515228	63.038971	130.751785	160.921051	
diff --git a/SD-VBS/benchmarks/tracking/data/fullhd/1.bmp b/SD-VBS/benchmarks/tracking/data/fullhd/1.bmp
new file mode 100644
index 0000000..3db2ad6
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/fullhd/1.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/fullhd/2.bmp b/SD-VBS/benchmarks/tracking/data/fullhd/2.bmp
new file mode 100644
index 0000000..9ff8e9c
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/fullhd/2.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/fullhd/3.bmp b/SD-VBS/benchmarks/tracking/data/fullhd/3.bmp
new file mode 100644
index 0000000..ec53ae6
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/fullhd/3.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/fullhd/4.bmp b/SD-VBS/benchmarks/tracking/data/fullhd/4.bmp
new file mode 100644
index 0000000..c45c5e9
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/fullhd/4.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/fullhd/Makefile b/SD-VBS/benchmarks/tracking/data/fullhd/Makefile
new file mode 100644
index 0000000..2b37182
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/fullhd/Makefile
@@ -0,0 +1,7 @@
+INPUT=fullhd
+include ../../../../common/makefiles/Makefile.include
+
+BMARK=tracking
+include $(MAKEFILE_COMMON_DIR)/Makefile.common
+
+
diff --git a/SD-VBS/benchmarks/tracking/data/fullhd/expected.m b/SD-VBS/benchmarks/tracking/data/fullhd/expected.m
new file mode 100644
index 0000000..eb034f0
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/fullhd/expected.m
@@ -0,0 +1,2 @@
+1487.193453	720.553084	1481.188344	382.962678	
+308.382612	306.797105	323.948844	369.542919	
diff --git a/SD-VBS/benchmarks/tracking/data/fullhd/expected_C.txt b/SD-VBS/benchmarks/tracking/data/fullhd/expected_C.txt
new file mode 100644
index 0000000..5608349
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/fullhd/expected_C.txt
@@ -0,0 +1,2 @@
+1486.424561	732.003601	1482.234131	380.614441	
+307.157501	334.762909	319.129578	367.587006	
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/1.bmp b/SD-VBS/benchmarks/tracking/data/qcif/1.bmp
new file mode 100644
index 0000000..140ace2
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/qcif/1.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/10.bmp b/SD-VBS/benchmarks/tracking/data/qcif/10.bmp
new file mode 100644
index 0000000..61518bc
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/qcif/10.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/2.bmp b/SD-VBS/benchmarks/tracking/data/qcif/2.bmp
new file mode 100644
index 0000000..8e1f7cc
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/qcif/2.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/3.bmp b/SD-VBS/benchmarks/tracking/data/qcif/3.bmp
new file mode 100644
index 0000000..95fe31f
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/qcif/3.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/4.bmp b/SD-VBS/benchmarks/tracking/data/qcif/4.bmp
new file mode 100644
index 0000000..464608a
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/qcif/4.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/5.bmp b/SD-VBS/benchmarks/tracking/data/qcif/5.bmp
new file mode 100644
index 0000000..71eb1b7
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/qcif/5.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/6.bmp b/SD-VBS/benchmarks/tracking/data/qcif/6.bmp
new file mode 100644
index 0000000..83e5379
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/qcif/6.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/7.bmp b/SD-VBS/benchmarks/tracking/data/qcif/7.bmp
new file mode 100644
index 0000000..95b4015
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/qcif/7.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/8.bmp b/SD-VBS/benchmarks/tracking/data/qcif/8.bmp
new file mode 100644
index 0000000..8847887
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/qcif/8.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/9.bmp b/SD-VBS/benchmarks/tracking/data/qcif/9.bmp
new file mode 100644
index 0000000..4301f11
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/qcif/9.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/Makefile b/SD-VBS/benchmarks/tracking/data/qcif/Makefile
new file mode 100644
index 0000000..fb48d25
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/qcif/Makefile
@@ -0,0 +1,7 @@
+INPUT=qcif
+include ../../../../common/makefiles/Makefile.include
+
+BMARK=tracking
+include $(MAKEFILE_COMMON_DIR)/Makefile.common
+
+
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/expected.m b/SD-VBS/benchmarks/tracking/data/qcif/expected.m
new file mode 100644
index 0000000..65c5984
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/qcif/expected.m
@@ -0,0 +1,2 @@
+142.858025	145.068198	102.770607	141.110282	90.859800	135.351851	80.185357	113.844268	117.388158	142.126183	80.877169	
+70.993874	35.205162	77.320628	62.895414	38.040784	78.853200	86.164881	63.301686	74.036975	46.176383	92.916465	
diff --git a/SD-VBS/benchmarks/tracking/data/qcif/expected_C.txt b/SD-VBS/benchmarks/tracking/data/qcif/expected_C.txt
new file mode 100644
index 0000000..7796dba
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/qcif/expected_C.txt
@@ -0,0 +1,2 @@
+133.082275	144.054230	100.963028	140.279068	89.887512	134.336441	69.720207	114.998512	116.348083	141.124100	79.836075	
+55.176003	34.147427	76.485626	61.329086	37.049969	77.030098	83.134308	54.533726	73.046341	45.200169	91.896271	
diff --git a/SD-VBS/benchmarks/tracking/data/sim/1.bmp b/SD-VBS/benchmarks/tracking/data/sim/1.bmp
new file mode 100644
index 0000000..825ea49
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/sim/1.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/sim/2.bmp b/SD-VBS/benchmarks/tracking/data/sim/2.bmp
new file mode 100644
index 0000000..d3451be
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/sim/2.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/sim/3.bmp b/SD-VBS/benchmarks/tracking/data/sim/3.bmp
new file mode 100644
index 0000000..b060b06
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/sim/3.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/sim/4.bmp b/SD-VBS/benchmarks/tracking/data/sim/4.bmp
new file mode 100644
index 0000000..137accc
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/sim/4.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/sim/Makefile b/SD-VBS/benchmarks/tracking/data/sim/Makefile
new file mode 100644
index 0000000..42e2aa9
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/sim/Makefile
@@ -0,0 +1,6 @@
+INPUT=sim
+include ../../../../common/makefiles/Makefile.include
+
+BMARK=tracking
+include $(MAKEFILE_COMMON_DIR)/Makefile.common
+
diff --git a/SD-VBS/benchmarks/tracking/data/sim/expected.m b/SD-VBS/benchmarks/tracking/data/sim/expected.m
new file mode 100644
index 0000000..6f90559
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/sim/expected.m
@@ -0,0 +1,2 @@
+24.422544	21.868191	40.786198	37.742716	30.302637	16.079615	30.062715	35.344185	
+14.131628	32.266282	37.315204	24.606535	32.839030	14.301861	22.509506	15.748797	
diff --git a/SD-VBS/benchmarks/tracking/data/sim/expected_C.txt b/SD-VBS/benchmarks/tracking/data/sim/expected_C.txt
new file mode 100644
index 0000000..b3e4b48
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/sim/expected_C.txt
@@ -0,0 +1,2 @@
+23.679535	20.567358	39.823669	36.499676	30.898752	13.758733	28.141140	34.485920	
+12.935260	31.359093	36.248371	23.564877	30.130877	11.027717	22.152441	14.522795	
diff --git a/SD-VBS/benchmarks/tracking/data/sim_fast/1.bmp b/SD-VBS/benchmarks/tracking/data/sim_fast/1.bmp
new file mode 100644
index 0000000..272897c
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/sim_fast/1.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/sim_fast/2.bmp b/SD-VBS/benchmarks/tracking/data/sim_fast/2.bmp
new file mode 100644
index 0000000..414d2cb
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/sim_fast/2.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/sim_fast/3.bmp b/SD-VBS/benchmarks/tracking/data/sim_fast/3.bmp
new file mode 100644
index 0000000..340e885
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/sim_fast/3.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/sim_fast/4.bmp b/SD-VBS/benchmarks/tracking/data/sim_fast/4.bmp
new file mode 100644
index 0000000..c347859
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/sim_fast/4.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/sim_fast/Makefile b/SD-VBS/benchmarks/tracking/data/sim_fast/Makefile
new file mode 100644
index 0000000..12bcfa5
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/sim_fast/Makefile
@@ -0,0 +1,6 @@
+INPUT=sim_fast
+include ../../../../common/makefiles/Makefile.include
+
+BMARK=tracking
+include $(MAKEFILE_COMMON_DIR)/Makefile.common
+
diff --git a/SD-VBS/benchmarks/tracking/data/sim_fast/expected.m b/SD-VBS/benchmarks/tracking/data/sim_fast/expected.m
new file mode 100644
index 0000000..f944bf8
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/sim_fast/expected.m
@@ -0,0 +1,2 @@
+25.330446	17.728868	14.459743	
+16.949109	9.076394	22.247495	
diff --git a/SD-VBS/benchmarks/tracking/data/sim_fast/expected_C.txt b/SD-VBS/benchmarks/tracking/data/sim_fast/expected_C.txt
new file mode 100644
index 0000000..7d624d7
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/sim_fast/expected_C.txt
@@ -0,0 +1,2 @@
+15.689241	12.913590	
+8.660824	21.268520	
diff --git a/SD-VBS/benchmarks/tracking/data/sqcif/1.bmp b/SD-VBS/benchmarks/tracking/data/sqcif/1.bmp
new file mode 100644
index 0000000..06a8c3d
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/sqcif/1.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/sqcif/2.bmp b/SD-VBS/benchmarks/tracking/data/sqcif/2.bmp
new file mode 100644
index 0000000..fd5c01f
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/sqcif/2.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/sqcif/3.bmp b/SD-VBS/benchmarks/tracking/data/sqcif/3.bmp
new file mode 100644
index 0000000..14ab860
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/sqcif/3.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/sqcif/4.bmp b/SD-VBS/benchmarks/tracking/data/sqcif/4.bmp
new file mode 100644
index 0000000..7afba08
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/sqcif/4.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/sqcif/Makefile b/SD-VBS/benchmarks/tracking/data/sqcif/Makefile
new file mode 100644
index 0000000..c47a0fd
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/sqcif/Makefile
@@ -0,0 +1,6 @@
+INPUT=sqcif
+include ../../../../common/makefiles/Makefile.include
+
+BMARK=tracking
+include $(MAKEFILE_COMMON_DIR)/Makefile.common
+
diff --git a/SD-VBS/benchmarks/tracking/data/sqcif/expected.m b/SD-VBS/benchmarks/tracking/data/sqcif/expected.m
new file mode 100644
index 0000000..db8a05c
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/sqcif/expected.m
@@ -0,0 +1,2 @@
+65.833985	96.386766	76.545247	96.006777	62.175348	60.185245	31.941927	68.970416	85.550211	109.931998	72.298306	74.080821	
+25.209999	70.490525	41.265387	59.869753	52.207516	62.050369	30.542002	70.430274	63.040458	45.825585	49.742089	63.956939	
diff --git a/SD-VBS/benchmarks/tracking/data/sqcif/expected_C.txt b/SD-VBS/benchmarks/tracking/data/sqcif/expected_C.txt
new file mode 100644
index 0000000..51c3af8
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/sqcif/expected_C.txt
@@ -0,0 +1,2 @@
+64.883919	96.402344	76.013298	86.118828	60.236912	59.199661	105.921989	32.250725	52.158295	119.325455	83.300941	69.831062	73.092682	106.911362	
+24.166391	67.989792	39.654747	42.183876	60.438770	61.022652	18.258587	32.598579	46.195374	35.623253	56.018707	48.722729	62.872787	51.833832	
diff --git a/SD-VBS/benchmarks/tracking/data/test/1.bmp b/SD-VBS/benchmarks/tracking/data/test/1.bmp
new file mode 100644
index 0000000..72079a8
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/test/1.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/test/2.bmp b/SD-VBS/benchmarks/tracking/data/test/2.bmp
new file mode 100644
index 0000000..d13e26c
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/test/2.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/test/3.bmp b/SD-VBS/benchmarks/tracking/data/test/3.bmp
new file mode 100644
index 0000000..10eb499
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/test/3.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/test/4.bmp b/SD-VBS/benchmarks/tracking/data/test/4.bmp
new file mode 100644
index 0000000..6536ea7
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/test/4.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/test/Makefile b/SD-VBS/benchmarks/tracking/data/test/Makefile
new file mode 100644
index 0000000..963bebc
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/test/Makefile
@@ -0,0 +1,5 @@
+INPUT=test
+include ../../../../common/makefiles/Makefile.include
+
+BMARK=tracking
+include $(MAKEFILE_COMMON_DIR)/Makefile.common
diff --git a/SD-VBS/benchmarks/tracking/data/test/expected.m b/SD-VBS/benchmarks/tracking/data/test/expected.m
new file mode 100644
index 0000000..139597f
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/test/expected.m
@@ -0,0 +1,2 @@
+
+
diff --git a/SD-VBS/benchmarks/tracking/data/test/expected_C.txt b/SD-VBS/benchmarks/tracking/data/test/expected_C.txt
new file mode 100644
index 0000000..139597f
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/test/expected_C.txt
@@ -0,0 +1,2 @@
+
+
diff --git a/SD-VBS/benchmarks/tracking/data/test/time.txt b/SD-VBS/benchmarks/tracking/data/test/time.txt
new file mode 100644
index 0000000..4cc9ce3
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/test/time.txt
@@ -0,0 +1 @@
+0	68705406
diff --git a/SD-VBS/benchmarks/tracking/data/vga/1.bmp b/SD-VBS/benchmarks/tracking/data/vga/1.bmp
new file mode 100644
index 0000000..9695b0c
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/vga/1.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/vga/2.bmp b/SD-VBS/benchmarks/tracking/data/vga/2.bmp
new file mode 100644
index 0000000..937d03a
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/vga/2.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/vga/3.bmp b/SD-VBS/benchmarks/tracking/data/vga/3.bmp
new file mode 100644
index 0000000..faedea3
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/vga/3.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/vga/4.bmp b/SD-VBS/benchmarks/tracking/data/vga/4.bmp
new file mode 100644
index 0000000..2be82b8
Binary files /dev/null and b/SD-VBS/benchmarks/tracking/data/vga/4.bmp differ
diff --git a/SD-VBS/benchmarks/tracking/data/vga/Makefile b/SD-VBS/benchmarks/tracking/data/vga/Makefile
new file mode 100644
index 0000000..e3fa1c2
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/vga/Makefile
@@ -0,0 +1,7 @@
+INPUT=vga
+include ../../../../common/makefiles/Makefile.include
+
+BMARK=tracking
+include $(MAKEFILE_COMMON_DIR)/Makefile.common
+
+
diff --git a/SD-VBS/benchmarks/tracking/data/vga/expected.m b/SD-VBS/benchmarks/tracking/data/vga/expected.m
new file mode 100644
index 0000000..05d987c
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/vga/expected.m
@@ -0,0 +1,2 @@
+470.825057	292.917830	182.675337	492.818305	276.157171	504.514201	
+216.367613	229.865854	255.912628	150.704991	276.525215	149.690554	
diff --git a/SD-VBS/benchmarks/tracking/data/vga/expected_C.txt b/SD-VBS/benchmarks/tracking/data/vga/expected_C.txt
new file mode 100644
index 0000000..2c17eed
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/data/vga/expected_C.txt
@@ -0,0 +1,2 @@
+469.870941	285.200348	178.385620	159.507050	491.550690	272.205200	502.454071	
+215.952835	273.082672	297.375244	132.275696	149.652573	273.382935	148.502777	
diff --git a/SD-VBS/benchmarks/tracking/src/c/calcAreaSum.c b/SD-VBS/benchmarks/tracking/src/c/calcAreaSum.c
new file mode 100644
index 0000000..40f03dc
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/c/calcAreaSum.c
@@ -0,0 +1,81 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include "tracking.h"
+
+/** Compute the sum of pixels over pixel neighborhood.
+    Neighborhood = winSize*winSize 
+    This will be useful when we compute the displacement
+    of the neighborhood across frames instead of tracking each pixel.
+
+    Input:  src Image
+            # rows, cols, size of window
+    Output: windowed-sum image, ret.
+
+    Example:
+    
+    winSize = 4, cols = 8, rows = 16
+    nave_half = 2, nave = 4
+    Say, the first row of the image is:
+                3 8 6 2 4 8 9 5
+    a1 =    0 0 3 8 6 2 4 8 9 5 0 0 (append nave_half zeros to left and right border)
+    asum =  (sum the first nave # pixels - 0 0 3 8 ) = 11
+    ret(0,0) =  11
+    For ret(0,1), we need to move the window to the right by one pixel and subtract
+    from a1sum the leftmost pixel. So, we add value 6 and subtract value at a1(0,0), = 0 here.
+    ret(0,1) = 17 = a1sum
+    For ret(0,2), a1sum - a1(0,1) + a1(2+nave) = 17 - 0 + 2 = 19 = a1sum
+    For ret(0,3), a1sum - a1(0,2) + a1(3+nave) = 19 - 3 + 4 = 20 = a1sum
+
+    We proceed this way for all the rows and then perform summantion across all cols.
+**/
+F2D* calcAreaSum(F2D* src, int cols, int rows, int winSize)
+{
+    int nave, nave_half, i, j, k;
+    F2D *ret, *a1;
+    float a1sum;
+    
+    nave = winSize;
+    nave_half = floor((nave+1)/2);
+
+    ret = fMallocHandle(rows, cols);
+    a1 = fSetArray(1, cols+nave,0);
+
+    for(i=0; i<rows; i++)
+    {
+        for(j=0; j<cols; j++) {
+            asubsref(a1,j+nave_half) = subsref(src,i,j);
+		}
+        a1sum = 0;
+        for(k=0; k<nave; k++) {
+            a1sum += asubsref(a1,k);
+		}
+        for(j=0; j<cols; j++)
+        {
+            subsref(ret,i,j) = a1sum;
+            a1sum += asubsref(a1,j+nave) - asubsref(a1,j);
+        }
+    }
+    fFreeHandle(a1);
+
+    a1 = fSetArray(1, rows+nave,0);
+    for(i=0; i<cols; i++)
+    {
+        for(j=0; j<rows; j++) {
+            asubsref(a1,j+nave_half) = subsref(ret,j,i);
+		}
+        a1sum = 0;
+        for(k=0; k<nave; k++) {
+            a1sum += asubsref(a1,k);
+		}
+        for(j=0; j<rows; j++)
+        {
+            subsref(ret,j,i) = a1sum;
+            a1sum += asubsref(a1,j+nave) - asubsref(a1,j);
+        }
+    }
+    fFreeHandle(a1);
+
+    return ret; 
+}
diff --git a/SD-VBS/benchmarks/tracking/src/c/calcGoodFeature.c b/SD-VBS/benchmarks/tracking/src/c/calcGoodFeature.c
new file mode 100644
index 0000000..0ef1862
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/c/calcGoodFeature.c
@@ -0,0 +1,78 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include "tracking.h"
+
+/** Computes lambda matrix, strength at each pixel
+    
+    det = determinant( [ IverticalEdgeSq IhorzVertEdge; IhorzVertEdge IhorizontalEdgeSq] ) ;
+    tr = IverticalEdgeSq + IhorizontalEdgeSq;
+    lamdba = det/tr;
+
+    Lambda is the measure of the strength of pixel
+    neighborhood. By strength we mean the amount of 
+    edge information it has, which translates to
+    sharp features in the image.
+
+    Input:  Edge images - vertical and horizontal
+            Window size (neighborhood size)
+    Output: Lambda, strength of pixel neighborhood
+
+    Given the edge images, we compute strength based
+    on how strong the edges are within each neighborhood.
+
+**/
+
+F2D* calcGoodFeature(F2D* verticalEdgeImage, F2D* horizontalEdgeImage, int cols, int rows, int winSize)
+{
+    int i, j, k, ind;
+    F2D *verticalEdgeSq, *horizontalEdgeSq, *horzVertEdge;
+    F2D *tr, *det, *lambda;
+    F2D *cummulative_verticalEdgeSq, *cummulative_horzVertEdge, *cummulative_horizontalEdgeSq;
+
+    verticalEdgeSq = fMallocHandle(rows, cols);
+    horzVertEdge = fMallocHandle(rows, cols);
+    horizontalEdgeSq = fMallocHandle(rows, cols);
+    
+    for( i=0; i<rows; i++)
+    {
+        for( j=0; j<cols; j++)
+        {
+            subsref(verticalEdgeSq,i,j) = subsref(verticalEdgeImage,i,j) * subsref(verticalEdgeImage,i,j);
+            subsref(horzVertEdge,i,j) = subsref(verticalEdgeImage,i,j) * subsref(horizontalEdgeImage,i,j);
+            subsref(horizontalEdgeSq,i,j) = subsref(horizontalEdgeImage,i,j) * subsref(horizontalEdgeImage,i,j);
+        }
+    }
+    
+    cummulative_verticalEdgeSq = calcAreaSum(verticalEdgeSq, cols, rows, winSize); 
+    cummulative_horzVertEdge = calcAreaSum(horzVertEdge, cols, rows, winSize);
+    cummulative_horizontalEdgeSq = calcAreaSum(horizontalEdgeSq, cols, rows, winSize);    
+     
+    tr = fMallocHandle(rows, cols);
+    det = fMallocHandle(rows, cols);
+    lambda = fMallocHandle(rows, cols);
+    
+    for( i=0; i<rows; i++)
+    {
+        for( j=0; j<cols; j++)
+        {
+            subsref(tr,i,j) = subsref(cummulative_verticalEdgeSq,i,j) + subsref(cummulative_horizontalEdgeSq,i,j);
+            subsref(det,i,j) = subsref(cummulative_verticalEdgeSq,i,j) * subsref(cummulative_horizontalEdgeSq,i,j) - subsref(cummulative_horzVertEdge,i,j) * subsref(cummulative_horzVertEdge,i,j);
+            subsref(lambda,i,j) = ( subsref(det,i,j) / (subsref(tr,i,j)+0.00001) ) ;
+        }
+    }
+   
+    fFreeHandle(verticalEdgeSq);
+    fFreeHandle(horzVertEdge);
+    fFreeHandle(horizontalEdgeSq);
+
+    fFreeHandle(cummulative_verticalEdgeSq);
+    fFreeHandle(cummulative_horzVertEdge);
+    fFreeHandle(cummulative_horizontalEdgeSq);
+    
+    fFreeHandle(tr);
+    fFreeHandle(det);
+     
+    return lambda;
+}
diff --git a/SD-VBS/benchmarks/tracking/src/c/calcPyrLKTrack.c b/SD-VBS/benchmarks/tracking/src/c/calcPyrLKTrack.c
new file mode 100644
index 0000000..3718673
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/c/calcPyrLKTrack.c
@@ -0,0 +1,179 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include "tracking.h"
+
+/** calcPyrLKTrack tries to find the displacement (translation in x and y) of features computed in the previous frame.
+    To compute the displacement, we interpolate the existing feature position around the pixel neighborhood.
+    For better results, we perform interpolatations across all pyramid levels.
+
+    Input:  Previous frame blurred images, vertical and horizontal
+            Current frame edge images, vertical and horizontal
+            Current frame blurred images, for level 0 and 1
+            Number of features from previous frame
+            Window size
+            Accuracy
+            Number of iterations to compute motion vector
+            Features from the previous frame
+            currentFrameFeatures, Populate the current frame features' displacements
+    Output: Number of valid features
+
+**/
+
+I2D* calcPyrLKTrack(F2D* previousImageBlur_level1, F2D* previousImageBlur_level2, F2D* vertEdge_level1, F2D* vertEdge_level2, F2D* horzEdge_level1, F2D* horzEdge_level2, F2D* currentImageBlur_level1, F2D* currentImageBlur_level2, F2D* previousFrameFeatures, int nFeatures, int winSize, float accuracy, int max_iter, F2D* currentFrameFeatures)
+{
+    int idx, level, pLevel, i, j, k, winSizeSq;
+    I2D *valid;
+    F2D *rate, *iPatch, *jPatch, *iDxPatch;
+    F2D *iDyPatch;
+    float tr, x, y, dX, dY, c_xx, c_yy, c_xy;
+    int imgSize_1, imgSize_2;
+    float mX, mY, dIt, eX, eY, c_det;
+    I2D *imgDims;
+
+    imgDims = iMallocHandle(2, 2);
+    subsref(imgDims,0,0) = previousImageBlur_level1->height;
+    subsref(imgDims,0,1) = previousImageBlur_level1->width;
+    subsref(imgDims,1,0) = previousImageBlur_level2->height;
+    subsref(imgDims,1,1) = previousImageBlur_level2->width;
+
+    pLevel = 2;
+    rate = fMallocHandle(1, 6);
+
+    asubsref(rate,0) = 1;
+    asubsref(rate,1) = 0.5;
+    asubsref(rate,2) = 0.25;
+    asubsref(rate,3) = 0.125;
+    asubsref(rate,4) = 0.0625;
+    asubsref(rate,5) = 0.03125;
+    
+    winSizeSq = 4*winSize*winSize;
+    valid = iSetArray(1,nFeatures, 1);
+
+    /** For each feature passed from previous frame, compute the dx and dy, the displacements **/
+    for(i=0; i<nFeatures; i++)
+    {
+        dX = 0;
+        dY = 0;
+
+        /** Compute the x and y co-ordinate values at "pLevel" **/
+        x = subsref(previousFrameFeatures,0,i) * asubsref(rate,pLevel);
+        y = subsref(previousFrameFeatures,1,i) * asubsref(rate,pLevel);
+        c_det = 0;
+
+        /** For each pyramid level, try to find correspondence.
+            We look for the correspondence in a given window size
+            , (winSize x winSize) neighborhood **/
+        for(level = pLevel-1; level>=0; level--)
+        {
+            x = x+x;
+            y = y+y;
+            dX = dX + dX;
+            dY = dY + dY;
+            imgSize_1 = subsref(imgDims,level,0);
+            imgSize_2 = subsref(imgDims,level,1);
+
+            c_xx = 0;
+            c_xy = 0;
+            c_yy = 0;
+        
+            if((x-winSize)<0 || (y-winSize)<0 || (y+winSize+1)>=imgSize_1 || (x+winSize+1)>=imgSize_2)
+            {
+                asubsref(valid,i) = 0;
+                break;
+            }
+
+            /** Perform interpolation. Use co-ord from previous
+                frame and use the images from current frame **/
+
+            if(level ==0)
+            {
+                iPatch = getInterpolatePatch(previousImageBlur_level1, imgSize_2, x, y, winSize);
+                iDxPatch = getInterpolatePatch(vertEdge_level1, imgSize_2, x, y, winSize);
+                iDyPatch = getInterpolatePatch(horzEdge_level1, imgSize_2, x, y, winSize);
+            }
+            if(level ==1)
+            {
+                iPatch = getInterpolatePatch(previousImageBlur_level2, imgSize_2, x, y, winSize);
+                iDxPatch = getInterpolatePatch(vertEdge_level2, imgSize_2, x, y, winSize);
+                iDyPatch = getInterpolatePatch(horzEdge_level2, imgSize_2, x, y, winSize);
+            }
+
+            /** Compute feature strength in similar way as calcGoodFeature **/
+            for(idx=0; idx<winSizeSq; idx++)
+            {
+                c_xx += asubsref(iDxPatch,idx) * asubsref(iDxPatch,idx);
+                c_xy += asubsref(iDxPatch,idx) * asubsref(iDyPatch,idx);
+                c_yy += asubsref(iDyPatch,idx) * asubsref(iDyPatch,idx);
+            }
+            
+            c_det = (c_xx * c_yy -c_xy * c_xy);
+            tr = c_xx + c_yy;
+
+            if((c_det/(tr+0.00001)) < accuracy)
+            {
+                asubsref(valid,i) = 0;
+                fFreeHandle(iPatch);
+                fFreeHandle(iDxPatch);
+                fFreeHandle(iDyPatch);
+                break;
+            }
+            c_det = 1/c_det;
+
+            /** We compute dX and dY using previous frame and current
+                frame images. For this, the strength is computed at each
+                pixel in the new image.  **/
+            for(k=0; k<max_iter; k++)
+            {
+                if( (x+dX-winSize)<0 || (y+dY-winSize)<0 || (y+dY+winSize+1)>=imgSize_1 || (x+dX+winSize+1)>=imgSize_2)
+                {
+                    asubsref(valid,i) = 0;
+                    break;
+                }
+                
+                if(level == 0)
+                    jPatch = getInterpolatePatch(currentImageBlur_level1, imgSize_2, x+dX, y+dY, winSize);
+                if(level == 1)
+                    jPatch = getInterpolatePatch(currentImageBlur_level2, imgSize_2, x+dX, y+dY, winSize);
+                
+                eX = 0;
+                eY = 0;
+                for(idx=0; idx<winSizeSq; idx++)
+                {
+                    dIt = asubsref(iPatch,idx) - asubsref(jPatch,idx);
+                    eX += dIt * asubsref(iDxPatch,idx);
+                    eY += dIt * asubsref(iDyPatch,idx);
+                }
+                
+                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)
+                {
+                    fFreeHandle(jPatch);
+                    break;
+                }
+                
+                fFreeHandle(jPatch);
+            }
+
+            fFreeHandle(iPatch);
+            fFreeHandle(iDxPatch);
+            fFreeHandle(iDyPatch);
+        }
+
+        subsref(currentFrameFeatures,0,i) = subsref(previousFrameFeatures,0,i) + dX;
+        subsref(currentFrameFeatures,1,i) = subsref(previousFrameFeatures,1,i) + dY;
+        
+    }
+
+    fFreeHandle(rate);
+    iFreeHandle(imgDims);
+    return valid;
+}
+
+
+
diff --git a/SD-VBS/benchmarks/tracking/src/c/fillFeatures.c b/SD-VBS/benchmarks/tracking/src/c/fillFeatures.c
new file mode 100644
index 0000000..42de169
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/c/fillFeatures.c
@@ -0,0 +1,67 @@
+/********************************
+
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include "tracking.h"
+
+/** Find the position and values of the top N_FEA features 
+	from the lambda matrix **/
+
+F2D* fillFeatures(F2D* lambda, int N_FEA, int win)
+{
+    int i, j, k, l;
+    int rows = lambda->height;
+    int cols = lambda->width;
+    F2D* features;
+
+	features = fSetArray(3, N_FEA, 0);
+
+	/** init array **/
+    for(i=0; i<N_FEA; i++)
+    {
+        subsref(features, 0, i) = -1.0;
+        subsref(features, 1, i) = -1.0;
+        subsref(features, 2, i) = 0.0;
+    }
+    
+
+	/** 
+		Find top N_FEA values and store them in 
+        features array along with row and col information 
+		It should be possible to make this algorithm better
+		if we use a pointer-based data structure,
+		but have not implemented due to MATLAB compatibility
+	**/ 
+
+	for (i=win; i<rows-win; i++)
+	{
+		for (j=win; j<cols-win; j++)
+		{
+            float currLambdaVal = subsref(lambda,i,j);
+			if (subsref(features, 2, N_FEA-1) > currLambdaVal)
+				continue;
+			
+			for (k=0; k<N_FEA; k++) 
+			{
+				if (subsref(features, 2, k) < currLambdaVal) 
+				{
+					/** shift one slot **/
+					for (l=N_FEA-1; l>k; l--)
+					{
+						subsref(features, 0, l) = subsref(features, 0, l-1);
+						subsref(features, 1, l) = subsref(features, 1, l-1);
+						subsref(features, 2, l) = subsref(features, 2, l-1);
+					}	
+					
+        			subsref(features, 0, k) = j * 1.0;
+        			subsref(features, 1, k) = i * 1.0;
+        			subsref(features, 2, k) = currLambdaVal;
+					break;
+				}
+			}
+		}
+	}
+
+    return features;
+}
diff --git a/SD-VBS/benchmarks/tracking/src/c/getANMS.c b/SD-VBS