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.
---
 .../lagrcv/calcOptFlowLKPyrWInitSobelMex.cc        | 87 ++++++++++++++++++++++
 1 file changed, 87 insertions(+)
 create mode 100755 SD-VBS/common/toolbox/lagrcv/calcOptFlowLKPyrWInitSobelMex.cc

(limited to 'SD-VBS/common/toolbox/lagrcv/calcOptFlowLKPyrWInitSobelMex.cc')

diff --git a/SD-VBS/common/toolbox/lagrcv/calcOptFlowLKPyrWInitSobelMex.cc b/SD-VBS/common/toolbox/lagrcv/calcOptFlowLKPyrWInitSobelMex.cc
new file mode 100755
index 0000000..1a2b15d
--- /dev/null
+++ b/SD-VBS/common/toolbox/lagrcv/calcOptFlowLKPyrWInitSobelMex.cc
@@ -0,0 +1,87 @@
+
+/* compile with 
+rm liblagrcv.a
+gcc -c lagrcv.cpp
+ar rc liblagrcv.a lagrcv.o
+ranlib liblagrcv.a
+mex7 calcTextureMex.cc -L/home/ikkjin/LagrMatlab/opencv/matlab -llagrcv -I/home/ikkjin/LagrMatlab/opencv/matlab/
+*/
+
+#include "mex.h"
+#include "lagrcv.h"
+#include <stdio.h>
+#include <math.h>
+
+#ifndef MAX_LEVEL
+#	define MAX_LEVEL 5
+#endif
+// TODO: add number of corners parameter
+void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) {
+  // usage: [newFeaturePnt validFlag ] = 
+  //   calcOptFlowLKPyrWInitMex2(Ipyr, Jpyr, featurePnt, winSize, accuracy_th, max_iter, initFPnt)
+  // Ipyr, IdxPyr, IdyPyr, Jpyr: levelx1 size cell.
+  // featurePnt 2xn int
+  // winSize c_level int
+  // c_xx c_xy c_yy: image size double*
+  // image must be double
+
+  
+  const mxArray* imgArray;
+  int* imdims;
+  const int *curImgDims;
+  const int *nFeatures;
+  double *iP[MAX_LEVEL], *jP[MAX_LEVEL];
+  double *fPnt, *newFPnt, *initFPnt; 
+  char* valid;
+  double accuracy_th;
+  int winSize, max_iter;
+  const int *cellDims = mxGetDimensions(prhs[0]);
+
+  accuracy_th=(double)mxGetScalar(prhs[4]);
+  max_iter=(int)mxGetScalar(prhs[5]);
+  initFPnt=(double*)mxGetPr(prhs[6]);
+	
+  winSize = (int)mxGetScalar(prhs[3]);
+  fPnt=(double*)mxGetPr(prhs[2]);
+  nFeatures=mxGetDimensions(prhs[2]);
+
+  imdims=(int*)malloc(sizeof(int)*cellDims[0]*2);
+
+  for(int i=0; i<cellDims[0]; i++){
+        //imgArray=mxGetCell(prhs[0],i);
+  	//curImgDims = mxGetDimensions(imgArray);
+  	curImgDims = mxGetDimensions(mxGetCell(prhs[0],i));
+  	imdims[i*2+0]= curImgDims[0];
+  	imdims[i*2+1]= curImgDims[1];
+  	//imdims[i][1] = curImgDims[1];
+
+  	iP[i]= (double*)mxGetPr(mxGetCell(prhs[0],i));
+  	jP[i]= (double*)mxGetPr(mxGetCell(prhs[1],i));
+  }
+
+  plhs[0] = mxCreateNumericMatrix(nFeatures[0], nFeatures[1], mxDOUBLE_CLASS, mxREAL);
+  plhs[1] = mxCreateNumericMatrix(1, nFeatures[1], mxUINT8_CLASS, mxREAL);
+
+  newFPnt = (double*)mxGetPr(plhs[0]);
+  valid = (char*)mxGetPr(plhs[1]);
+
+  //idx convert from matlab to c
+  for(int i=0; i<nFeatures[1]; i++){
+	fPnt[i*2]=fPnt[i*2]-1;
+	fPnt[i*2+1]=fPnt[i*2+1]-1;
+	initFPnt[i*2]=initFPnt[i*2]-1;
+	initFPnt[i*2+1]=initFPnt[i*2+1]-1;
+	valid[i]=1;
+  }
+  calcPyrLKTrackWInit( iP, jP, imdims, cellDims[0], fPnt, nFeatures[1], winSize, 
+	 newFPnt, initFPnt, valid, accuracy_th, max_iter); 
+  //idx convert from matlab to c
+  for(int i=0; i<nFeatures[1]*2; i++){
+	fPnt[i]=fPnt[i]+1;
+	initFPnt[i]=initFPnt[i]+1;
+  	newFPnt[i]=newFPnt[i]+1;
+  }
+  free(imdims);
+  //free(iP);
+  //free(jP);
+}
-- 
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