added pix_opencv_lk

svn path=/trunk/externals/pix_opencv/; revision=11847

4 files changed, 933 insertions, 1 deletions

diff --git a/Makefile b/Makefile
index 926369e..9b88ef7 100644
--- a/Makefile
+++ b/Makefile
@@ -36,7 +36,7 @@ endif
 
 .SUFFIXES = $(EXTENSION)
 
-SOURCES = pix_opencv_edge.cc pix_opencv_laplace.cc pix_opencv_morphology.cc pix_opencv_distrans.cc pix_opencv_motempl.cc pix_opencv_haarcascade.cc pix_opencv_contours_boundingrect.cc pix_opencv_bgsubstract.cc pix_opencv_contours_convexity.cc pix_opencv_dft.cc
+SOURCES = pix_opencv_edge.cc pix_opencv_laplace.cc pix_opencv_morphology.cc pix_opencv_distrans.cc pix_opencv_motempl.cc pix_opencv_haarcascade.cc pix_opencv_contours_boundingrect.cc pix_opencv_bgsubstract.cc pix_opencv_contours_convexity.cc pix_opencv_dft.cc pix_opencv_lk.cc
 
 all: $(SOURCES:.cc=.$(EXTENSION))
 
diff --git a/pix_opencv_lk-help.pd b/pix_opencv_lk-help.pd
new file mode 100755
index 0000000..4b67d7c
--- /dev/null
+++ b/pix_opencv_lk-help.pd
@@ -0,0 +1,162 @@
+#N canvas 288 90 1192 685 10;
+#X obj 396 -37 gemhead;
+#X obj 212 501 pix_texture;
+#X obj 212 529 square 2;
+#X obj 28 132 cnv 15 220 70 empty empty empty 20 12 0 14 -195568 -66577
+0;
+#N canvas 0 22 454 304 gemwin 0;
+#X obj 132 136 gemwin;
+#X obj 67 89 outlet;
+#X obj 67 10 inlet;
+#X obj 67 41 route create;
+#X msg 67 70 set destroy;
+#X msg 182 68 set create;
+#X msg 132 112 create \, 1;
+#X msg 238 112 destroy;
+#N canvas 87 154 247 179 Gem.init 0;
+#X obj 118 46 loadbang;
+#X msg 118 81 reset;
+#X obj 118 113 outlet;
+#X connect 0 0 1 0;
+#X connect 1 0 2 0;
+#X restore 289 80 pd Gem.init;
+#X connect 2 0 3 0;
+#X connect 3 0 4 0;
+#X connect 3 0 6 0;
+#X connect 3 1 5 0;
+#X connect 3 1 7 0;
+#X connect 4 0 1 0;
+#X connect 5 0 1 0;
+#X connect 6 0 0 0;
+#X connect 7 0 0 0;
+#X connect 8 0 0 0;
+#X restore 35 178 pd gemwin;
+#X msg 35 154 create;
+#X text 36 136 Create window and render;
+#X obj 213 404 pix_texture;
+#X obj 213 432 square 2;
+#X obj 325 71 translateXYZ -2 0 0;
+#X obj 326 100 separator;
+#X obj 340 179 cnv 15 600 400 empty empty empty 20 12 0 14 -24198 -66577
+0;
+#X obj 511 -66 bng 25 250 50 0 empty empty empty 0 -6 0 8 -262144 -1
+-1;
+#X obj 524 128 unpack 0 0 0;
+#X floatatom 514 151 5 0 0 3 length - -;
+#X floatatom 563 151 5 0 0 3 width - -;
+#X floatatom 613 151 5 0 0 3 height - -;
+#X obj 568 109 bng 15 250 50 0 empty empty end_reached 20 7 0 10 -262144
+-1 -1;
+#X floatatom 550 74 5 0 10000 1 frame# - -;
+#X obj 511 -37 openpanel;
+#X msg 511 -17 open \$1;
+#X obj 499 92 pix_film;
+#X msg 517 26 auto \$1;
+#X obj 517 8 tgl 15 0 empty empty empty 0 -6 0 8 -262144 -1 -1 0 1
+;
+#X obj 326 126 translateXYZ 4 0 0;
+#X obj 580 26 loadbang;
+#X msg 528 50 colorspace RGBA;
+#X floatatom 488 416 5 0 0 0 - - -;
+#X text 523 415 window size;
+#X obj 553 262 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0
+1;
+#X msg 468 260 nightmode \$1;
+#X text 572 263 set nightmode;
+#X msg 463 234 quality \$1;
+#X floatatom 538 235 5 0 0 0 - - -;
+#X floatatom 546 210 5 0 0 0 - - -;
+#X msg 449 209 mindistance \$1;
+#X text 587 208 set distance ( default 10 );
+#X msg 442 181 init;
+#X text 511 181 init point detections;
+#X floatatom 631 235 5 0 0 0 - - -;
+#X obj 576 233 / 1000;
+#X msg 481 285 mark \$1 \$2;
+#X msg 492 311 delete \$1;
+#X text 563 311 delete a marker;
+#X msg 503 337 clear;
+#X text 551 338 delete all markers;
+#X msg 510 364 maxmove \$1;
+#X text 624 364 max movement of a marker ( default 5 pisels );
+#X floatatom 586 366 5 0 0 0 - - -;
+#X text 763 234 set quality ( default 100 );
+#X msg 671 233 100;
+#X obj 704 233 loadbang;
+#X obj 480 504 unpack f f;
+#X floatatom 481 529 5 0 0 0 - - -;
+#X floatatom 539 530 5 0 0 0 - - -;
+#X text 482 545 X;
+#X text 537 546 Y;
+#X obj 479 478 route 1 2 3 4 5 6 7 8 9 10;
+#X text 651 479 position of each marked point;
+#X obj 377 428 pix_opencv_lk;
+#X text 23 21 written by Lluis Gomez i Bigorda ( lluisgomez@hangar.org
+) and Yves Degoyon ( ydegoyon@gmail.com );
+#X text 23 9 pix_opencv_lk : contour most significant points detection
+;
+#X obj 952 123 gemmouse;
+#X obj 1008 230 f;
+#X obj 978 229 f;
+#X obj 1022 201 t b b;
+#X obj 978 257 pack f f;
+#X text 560 286 mark x y : mark a point to track ( max points : 10
+);
+#X obj 998 151 route 1;
+#X msg 1019 176 bang;
+#X connect 0 0 21 0;
+#X connect 1 0 2 0;
+#X connect 4 0 5 0;
+#X connect 5 0 4 0;
+#X connect 7 0 8 0;
+#X connect 9 0 7 0;
+#X connect 9 0 10 0;
+#X connect 10 0 24 0;
+#X connect 12 0 19 0;
+#X connect 13 0 14 0;
+#X connect 13 1 15 0;
+#X connect 13 2 16 0;
+#X connect 17 0 18 0;
+#X connect 18 0 21 1;
+#X connect 19 0 20 0;
+#X connect 20 0 21 0;
+#X connect 21 0 9 0;
+#X connect 21 1 13 0;
+#X connect 21 2 17 0;
+#X connect 22 0 21 0;
+#X connect 23 0 22 0;
+#X connect 24 0 59 0;
+#X connect 25 0 26 0;
+#X connect 26 0 21 0;
+#X connect 27 0 59 1;
+#X connect 29 0 30 0;
+#X connect 30 0 59 0;
+#X connect 32 0 59 0;
+#X connect 33 0 32 0;
+#X connect 34 0 35 0;
+#X connect 35 0 59 0;
+#X connect 37 0 59 0;
+#X connect 39 0 40 0;
+#X connect 40 0 33 0;
+#X connect 41 0 59 0;
+#X connect 42 0 59 0;
+#X connect 44 0 59 0;
+#X connect 46 0 59 0;
+#X connect 48 0 46 0;
+#X connect 50 0 39 0;
+#X connect 51 0 50 0;
+#X connect 52 0 53 0;
+#X connect 52 1 54 0;
+#X connect 57 0 52 0;
+#X connect 59 0 1 0;
+#X connect 59 1 57 0;
+#X connect 62 0 64 1;
+#X connect 62 1 63 1;
+#X connect 62 2 68 0;
+#X connect 63 0 66 1;
+#X connect 64 0 66 0;
+#X connect 65 0 64 0;
+#X connect 65 1 63 0;
+#X connect 66 0 41 0;
+#X connect 68 0 69 0;
+#X connect 69 0 65 0;
diff --git a/pix_opencv_lk.cc b/pix_opencv_lk.cc
new file mode 100755
index 0000000..a4a7acb
--- /dev/null
+++ b/pix_opencv_lk.cc
@@ -0,0 +1,654 @@
+////////////////////////////////////////////////////////
+//
+// GEM - Graphics Environment for Multimedia
+//
+// zmoelnig@iem.kug.ac.at
+//
+// Implementation file
+//
+//    Copyright (c) 1997-2000 Mark Danks.
+//    Copyright (c) Günther Geiger.
+//    Copyright (c) 2001-2002 IOhannes m zmoelnig. forum::für::umläute. IEM
+//    Copyright (c) 2002 James Tittle & Chris Clepper
+//    For information on usage and redistribution, and for a DISCLAIMER OF ALL
+//    WARRANTIES, see the file, "GEM.LICENSE.TERMS" in this distribution.
+//
+/////////////////////////////////////////////////////////
+
+#include "pix_opencv_lk.h"
+#include <stdio.h>
+
+CPPEXTERN_NEW(pix_opencv_lk)
+
+/////////////////////////////////////////////////////////
+//
+// pix_opencv_lk
+//
+/////////////////////////////////////////////////////////
+// Constructor
+//
+/////////////////////////////////////////////////////////
+
+pix_opencv_lk :: pix_opencv_lk()
+{ 
+  int i;
+
+  comp_xsize=0;
+  comp_ysize=0;
+
+  inlet_new(this->x_obj, &this->x_obj->ob_pd, gensym("float"), gensym("winsize"));
+
+  m_dataout = outlet_new(this->x_obj, &s_anything);
+  win_size = 10;
+
+  points[0] = 0;
+  points[1] = 0;
+  status = 0;
+  count = 0;
+  need_to_init = 1;
+  night_mode = 0;
+  flags = 0;
+  add_remove_pt = 0;
+  quality = 0.1;
+  min_distance = 10;
+  maxmove = 8;
+
+  for ( i=0; i<MAX_MARKERS; i++ )
+  {
+     x_xmark[i] = -1;
+     x_ymark[i] = -1;
+  }
+
+  // initialize font
+  cvInitFont( &font, CV_FONT_HERSHEY_PLAIN, 1.0, 1.0, 0, 1, 8 );
+
+  rgba = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 4 );
+  rgb = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 3 );
+  grey = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+  prev_grey = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+  pyramid = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+  prev_pyramid = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+  points[0] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
+  points[1] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
+  status = (char*)cvAlloc(MAX_COUNT);
+
+}
+
+/////////////////////////////////////////////////////////
+// Destructor
+//
+/////////////////////////////////////////////////////////
+pix_opencv_lk :: ~pix_opencv_lk()
+{
+  // Destroy cv_images
+  cvReleaseImage( &rgba );
+  cvReleaseImage( &rgb );
+  cvReleaseImage( &grey );
+  cvReleaseImage( &prev_grey );
+  cvReleaseImage( &pyramid );
+  cvReleaseImage( &prev_pyramid );
+}
+
+/////////////////////////////////////////////////////////
+// processImage
+//
+/////////////////////////////////////////////////////////
+void pix_opencv_lk :: processRGBAImage(imageStruct &image)
+{
+  int i, k;
+  int im;
+
+  if ((this->comp_xsize!=image.xsize)&&(this->comp_ysize!=image.ysize)) 
+  {
+
+    this->comp_xsize=image.xsize;
+    this->comp_ysize=image.ysize;
+
+    rgba = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 4 );
+    rgb = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 3 );
+    grey = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+    prev_grey = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+    pyramid = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+    prev_pyramid = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+    points[0] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
+    points[1] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
+    status = (char*)cvAlloc(MAX_COUNT);
+
+  }
+
+  memcpy( rgba->imageData, image.data, image.xsize*image.ysize*4 );
+  cvCvtColor(rgba, grey, CV_BGRA2GRAY);
+
+  if( night_mode )
+      cvZero( rgba );
+
+  for ( im=0; im<MAX_MARKERS; im++ )
+  {
+       x_found[im] = 0;
+  }
+
+  if( need_to_init )
+  {
+     /* automatic initialization */
+     IplImage* eig = cvCreateImage( cvSize(grey->width,grey->height), 32, 1 );
+     IplImage* temp = cvCreateImage( cvSize(grey->width,grey->height), 32, 1 );
+
+     count = MAX_COUNT;
+     cvGoodFeaturesToTrack( grey, eig, temp, points[1], &count,
+                               quality, min_distance, 0, 3, 0, 0.04 );
+     cvFindCornerSubPix( grey, points[1], count,
+          cvSize(win_size,win_size), cvSize(-1,-1),
+          cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
+     cvReleaseImage( &eig );
+     cvReleaseImage( &temp );
+
+     add_remove_pt = 0;
+  }
+  else if( count > 0 )
+  {
+     cvCalcOpticalFlowPyrLK( prev_grey, grey, prev_pyramid, pyramid,
+              points[0], points[1], count, cvSize(win_size,win_size), 3, status, 0,
+              cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03), flags );
+     flags |= CV_LKFLOW_PYR_A_READY;
+     for( i = k = 0; i < count; i++ )
+     {
+        if( add_remove_pt )
+        {
+           double dx = pt.x - points[1][i].x;
+           double dy = pt.y - points[1][i].y;
+
+           if( dx*dx + dy*dy <= 25 )
+           {
+              add_remove_pt = 0;
+              continue;
+           }
+         }
+
+         if( !status[i] )
+          continue;
+
+         points[1][k++] = points[1][i];
+         cvCircle( rgba, cvPointFrom32f(points[1][i]), 3, CV_RGB(0,255,0), -1, 8,0);
+
+         for ( im=0; im<MAX_MARKERS; im++ )
+         {
+           // first marking
+           if ( x_xmark[im] != -1.0 )
+           {
+             if ( ( abs( points[1][i].x - x_xmark[im] ) <= maxmove ) && ( abs( points[1][i].y - x_ymark[im] ) <= maxmove ) )
+             {
+               char tindex[4];
+               sprintf( tindex, "%d", im+1 );
+               cvPutText( rgba, tindex, cvPointFrom32f(points[1][i]), &font, CV_RGB(255,255,255));
+               x_xmark[im]=points[1][i].x;
+               x_ymark[im]=points[1][i].y;
+               x_found[im]=1;
+               SETFLOAT(&x_list[0], im+1);
+               SETFLOAT(&x_list[1], x_xmark[im]);
+               SETFLOAT(&x_list[2], x_ymark[im]);
+               outlet_list( m_dataout, 0, 3, x_list );
+             }
+           }
+         }
+      }
+      count = k;
+  }
+
+  for ( im=0; im<MAX_MARKERS; im++ )
+  {
+        if ( (x_xmark[im] != -1.0 ) && !x_found[im] )
+        {
+           x_xmark[im]=-1.0;
+           x_ymark[im]=-1.0;
+           SETFLOAT(&x_list[0], im+1);
+           SETFLOAT(&x_list[1], x_xmark[im]);
+           SETFLOAT(&x_list[2], x_ymark[im]);
+           // send a lost point message to the patch
+           outlet_list( m_dataout, 0, 3, x_list );
+           post( "pix_opencv_lk : lost point %d", im+1 );
+        }
+  }
+
+  if( add_remove_pt && count < MAX_COUNT )
+  {
+        points[1][count++] = cvPointTo32f(pt);
+        cvFindCornerSubPix( grey, points[1] + count - 1, 1,
+           cvSize(win_size,win_size), cvSize(-1,-1),
+           cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
+        add_remove_pt = 0;
+  }
+
+  CV_SWAP( prev_grey, grey, swap_temp );
+  CV_SWAP( prev_pyramid, pyramid, swap_temp );
+  CV_SWAP( points[0], points[1], swap_points );
+  need_to_init = 0;
+
+  memcpy( image.data, rgba->imageData, image.xsize*image.ysize*4 );
+}
+
+void pix_opencv_lk :: processRGBImage(imageStruct &image)
+{ 
+  int i, k;
+  int im;
+
+  if ((this->comp_xsize!=image.xsize)&&(this->comp_ysize!=image.ysize)) 
+  {
+
+    this->comp_xsize=image.xsize;
+    this->comp_ysize=image.ysize;
+
+    rgba = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 4 );
+    rgb = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 3 );
+    grey = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+    prev_grey = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+    pyramid = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+    prev_pyramid = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+    points[0] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
+    points[1] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
+    status = (char*)cvAlloc(MAX_COUNT);
+
+  }
+
+  memcpy( rgb->imageData, image.data, image.xsize*image.ysize*3 );
+  cvCvtColor(rgb, grey, CV_BGRA2GRAY);
+
+  if( night_mode )
+      cvZero( rgb );
+
+  for ( im=0; im<MAX_MARKERS; im++ )
+  {
+       x_found[im] = 0;
+  }
+
+  if( need_to_init )
+  {
+     /* automatic initialization */
+     IplImage* eig = cvCreateImage( cvSize(grey->width,grey->height), 32, 1 );
+     IplImage* temp = cvCreateImage( cvSize(grey->width,grey->height), 32, 1 );
+
+     count = MAX_COUNT;
+     cvGoodFeaturesToTrack( grey, eig, temp, points[1], &count,
+                               quality, min_distance, 0, 3, 0, 0.04 );
+     cvFindCornerSubPix( grey, points[1], count,
+          cvSize(win_size,win_size), cvSize(-1,-1),
+          cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
+     cvReleaseImage( &eig );
+     cvReleaseImage( &temp );
+
+     add_remove_pt = 0;
+  }
+  else if( count > 0 )
+  {
+     cvCalcOpticalFlowPyrLK( prev_grey, grey, prev_pyramid, pyramid,
+              points[0], points[1], count, cvSize(win_size,win_size), 3, status, 0,
+              cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03), flags );
+     flags |= CV_LKFLOW_PYR_A_READY;
+     for( i = k = 0; i < count; i++ )
+     {
+        if( add_remove_pt )
+        {
+           double dx = pt.x - points[1][i].x;
+           double dy = pt.y - points[1][i].y;
+
+           if( dx*dx + dy*dy <= 25 )
+           {
+              add_remove_pt = 0;
+              continue;
+           }
+         }
+
+         if( !status[i] )
+          continue;
+
+         points[1][k++] = points[1][i];
+         cvCircle( rgb, cvPointFrom32f(points[1][i]), 3, CV_RGB(0,255,0), -1, 8,0);
+
+         for ( im=0; im<MAX_MARKERS; im++ )
+         {
+           // first marking
+           if ( x_xmark[im] != -1.0 )
+           {
+             if ( ( abs( points[1][i].x - x_xmark[im] ) <= maxmove ) && ( abs( points[1][i].y - x_ymark[im] ) <= maxmove ) )
+             {
+               char tindex[4];
+               sprintf( tindex, "%d", im+1 );
+               cvPutText( rgb, tindex, cvPointFrom32f(points[1][i]), &font, CV_RGB(255,255,255));
+               x_xmark[im]=points[1][i].x;
+               x_ymark[im]=points[1][i].y;
+               x_found[im]=1;
+               SETFLOAT(&x_list[0], im+1);
+               SETFLOAT(&x_list[1], x_xmark[im]);
+               SETFLOAT(&x_list[2], x_ymark[im]);
+               outlet_list( m_dataout, 0, 3, x_list );
+             }
+           }
+         }
+      }
+      count = k;
+  }
+
+  for ( im=0; im<MAX_MARKERS; im++ )
+  {
+        if ( (x_xmark[im] != -1.0 ) && !x_found[im] )
+        {
+           x_xmark[im]=-1.0;
+           x_ymark[im]=-1.0;
+           SETFLOAT(&x_list[0], im+1);
+           SETFLOAT(&x_list[1], x_xmark[im]);
+           SETFLOAT(&x_list[2], x_ymark[im]);
+           // send a lost point message to the patch
+           outlet_list( m_dataout, 0, 3, x_list );
+           post( "pix_opencv_lk : lost point %d", im+1 );
+        }
+  }
+
+  if( add_remove_pt && count < MAX_COUNT )
+  {
+        points[1][count++] = cvPointTo32f(pt);
+        cvFindCornerSubPix( grey, points[1] + count - 1, 1,
+           cvSize(win_size,win_size), cvSize(-1,-1),
+           cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
+        add_remove_pt = 0;
+  }
+
+  CV_SWAP( prev_grey, grey, swap_temp );
+  CV_SWAP( prev_pyramid, pyramid, swap_temp );
+  CV_SWAP( points[0], points[1], swap_points );
+  need_to_init = 0;
+
+  memcpy( image.data, rgb->imageData, image.xsize*image.ysize*3 );
+}
+
+void pix_opencv_lk :: processYUVImage(imageStruct &image)
+{
+}
+    	
+void pix_opencv_lk :: processGrayImage(imageStruct &image)
+{ 
+  int i, k;
+  int im;
+
+  if ((this->comp_xsize!=image.xsize)&&(this->comp_ysize!=image.ysize)) 
+  {
+
+    this->comp_xsize=image.xsize;
+    this->comp_ysize=image.ysize;
+
+    rgba = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 4 );
+    rgb = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 3 );
+    grey = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+    prev_grey = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+    pyramid = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+    prev_pyramid = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
+    points[0] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
+    points[1] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
+    status = (char*)cvAlloc(MAX_COUNT);
+
+  }
+
+  memcpy( grey->imageData, image.data, image.xsize*image.ysize );
+
+  if( night_mode )
+      cvZero( grey );
+
+  for ( im=0; im<MAX_MARKERS; im++ )
+  {
+       x_found[im] = 0;
+  }
+
+  if( need_to_init )
+  {
+     /* automatic initialization */
+     IplImage* eig = cvCreateImage( cvSize(grey->width,grey->height), 32, 1 );
+     IplImage* temp = cvCreateImage( cvSize(grey->width,grey->height), 32, 1 );
+
+     count = MAX_COUNT;
+     cvGoodFeaturesToTrack( grey, eig, temp, points[1], &count,
+                               quality, min_distance, 0, 3, 0, 0.04 );
+     cvFindCornerSubPix( grey, points[1], count,
+          cvSize(win_size,win_size), cvSize(-1,-1),
+          cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
+     cvReleaseImage( &eig );
+     cvReleaseImage( &temp );
+
+     add_remove_pt = 0;
+  }
+  else if( count > 0 )
+  {
+     cvCalcOpticalFlowPyrLK( prev_grey, grey, prev_pyramid, pyramid,
+              points[0], points[1], count, cvSize(win_size,win_size), 3, status, 0,
+              cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03), flags );
+     flags |= CV_LKFLOW_PYR_A_READY;
+     for( i = k = 0; i < count; i++ )
+     {
+        if( add_remove_pt )
+        {
+           double dx = pt.x - points[1][i].x;
+           double dy = pt.y - points[1][i].y;
+
+           if( dx*dx + dy*dy <= 25 )
+           {
+              add_remove_pt = 0;
+              continue;
+           }
+         }
+
+         if( !status[i] )
+          continue;
+
+         points[1][k++] = points[1][i];
+         cvCircle( grey, cvPointFrom32f(points[1][i]), 3, CV_RGB(0,255,0), -1, 8,0);
+
+         for ( im=0; im<MAX_MARKERS; im++ )
+         {
+           // first marking
+           if ( x_xmark[im] != -1.0 )
+           {
+             if ( ( abs( points[1][i].x - x_xmark[im] ) <= maxmove ) && ( abs( points[1][i].y - x_ymark[im] ) <= maxmove ) )
+             {
+               char tindex[4];
+               sprintf( tindex, "%d", im+1 );
+               cvPutText( grey, tindex, cvPointFrom32f(points[1][i]), &font, CV_RGB(255,255,255));
+               x_xmark[im]=points[1][i].x;
+               x_ymark[im]=points[1][i].y;
+               x_found[im]=1;
+               SETFLOAT(&x_list[0], im+1);
+               SETFLOAT(&x_list[1], x_xmark[im]);
+               SETFLOAT(&x_list[2], x_ymark[im]);
+               outlet_list( m_dataout, 0, 3, x_list );
+             }
+           }
+         }
+      }
+      count = k;
+  }
+
+  for ( im=0; im<MAX_MARKERS; im++ )
+  {
+        if ( (x_xmark[im] != -1.0 ) && !x_found[im] )
+        {
+           x_xmark[im]=-1.0;
+           x_ymark[im]=-1.0;
+           SETFLOAT(&x_list[0], im+1);
+           SETFLOAT(&x_list[1], x_xmark[im]);
+           SETFLOAT(&x_list[2], x_ymark[im]);
+           // send a lost point message to the patch
+           outlet_list( m_dataout, 0, 3, x_list );
+           post( "pix_opencv_lk : lost point %d", im+1 );
+        }
+  }
+
+  if( add_remove_pt && count < MAX_COUNT )
+  {
+        points[1][count++] = cvPointTo32f(pt);
+        cvFindCornerSubPix( grey, points[1] + count - 1, 1,
+           cvSize(win_size,win_size), cvSize(-1,-1),
+           cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
+        add_remove_pt = 0;
+  }
+
+  CV_SWAP( prev_grey, grey, swap_temp );
+  CV_SWAP( prev_pyramid, pyramid, swap_temp );
+  CV_SWAP( points[0], points[1], swap_points );
+  need_to_init = 0;
+
+  memcpy( image.data, grey->imageData, image.xsize*image.ysize );
+}
+
+/////////////////////////////////////////////////////////
+// static member function
+//
+/////////////////////////////////////////////////////////
+
+void pix_opencv_lk :: obj_setupCallback(t_class *classPtr)
+{
+  class_addmethod(classPtr, (t_method)&pix_opencv_lk::winSizeMessCallback,
+		  gensym("winsize"), A_FLOAT, A_NULL);
+  class_addmethod(classPtr, (t_method)&pix_opencv_lk::nightModeMessCallback,
+		  gensym("nightmode"), A_FLOAT, A_NULL);
+  class_addmethod(classPtr, (t_method)&pix_opencv_lk::qualityMessCallback,
+		  gensym("quality"), A_FLOAT, A_NULL);
+  class_addmethod(classPtr, (t_method)&pix_opencv_lk::initMessCallback,
+		  gensym("init"), A_NULL);
+  class_addmethod(classPtr, (t_method)&pix_opencv_lk::markMessCallback,
+		  gensym("mark"), A_FLOAT, A_FLOAT, A_NULL);
+  class_addmethod(classPtr, (t_method)&pix_opencv_lk::deleteMessCallback,
+		  gensym("delete"), A_FLOAT, A_NULL);
+  class_addmethod(classPtr, (t_method)&pix_opencv_lk::clearMessCallback,
+		  gensym("clear"), A_NULL);
+  class_addmethod(classPtr, (t_method)&pix_opencv_lk::minDistanceMessCallback,
+		  gensym("mindistance"), A_FLOAT, A_NULL);
+  class_addmethod(classPtr, (t_method)&pix_opencv_lk::maxMoveMessCallback,
+		  gensym("maxmove"), A_FLOAT, A_NULL);
+}
+
+void  pix_opencv_lk :: winSizeMessCallback(void *data, t_floatarg winsize)
+{
+    GetMyClass(data)->winSizeMess((float)winsize);
+}
+
+void  pix_opencv_lk :: nightModeMessCallback(void *data, t_floatarg nightmode)
+{
+    GetMyClass(data)->nightModeMess((float)nightmode);
+}
+
+void  pix_opencv_lk :: qualityMessCallback(void *data, t_floatarg quality)
+{
+    GetMyClass(data)->qualityMess((float)quality);
+}
+
+void  pix_opencv_lk :: initMessCallback(void *data)
+{
+    GetMyClass(data)->initMess();
+}
+
+void  pix_opencv_lk :: markMessCallback(void *data, t_floatarg mx, t_floatarg my)
+{
+    GetMyClass(data)->markMess((float)mx, (float)my);
+}
+
+void  pix_opencv_lk :: deleteMessCallback(void *data, t_floatarg index)
+{
+    GetMyClass(data)->deleteMess((float)index);
+}
+
+void  pix_opencv_lk :: clearMessCallback(void *data)
+{
+    GetMyClass(data)->clearMess();
+}
+
+void  pix_opencv_lk :: minDistanceMessCallback(void *data, t_floatarg mindistance)
+{
+    GetMyClass(data)->minDistanceMess((float)mindistance);
+}
+
+void  pix_opencv_lk :: maxMoveMessCallback(void *data, t_floatarg maxmove)
+{
+    GetMyClass(data)->maxMoveMess((float)maxmove);
+}
+
+void  pix_opencv_lk :: winSizeMess(float winsize)
+{
+    if (winsize>1.0) win_size = (int)winsize;
+}
+
+void  pix_opencv_lk :: nightModeMess(float nightmode)
+{
+    if ((nightmode==0.0)||(nightmode==1.0)) night_mode = (int)nightmode;
+}
+
+void  pix_opencv_lk :: qualityMess(float quality)
+{
+    if (quality>0.0) quality = quality;
+}
+
+void  pix_opencv_lk :: initMess(void)
+{
+    need_to_init = 1;
+}
+
+void  pix_opencv_lk :: markMess(float mx, float my)
+{
+  int i;
+  int inserted;
+
+    if ( ( mx < 0.0 ) || ( mx >= comp_xsize ) || ( my < 0.0 ) || ( my >= comp_ysize ) )
+    {
+       return;
+    }
+
+    inserted = 0;
+    for ( i=0; i<MAX_MARKERS; i++)
+    {
+       if ( x_xmark[i] == -1 )
+       {
+          x_xmark[i] = (int)(mx);
+          x_ymark[i] = (int)(my);
+          post( "pix_opencv_lk : inserted point (%d,%d)", x_xmark[i], x_ymark[i] );
+          inserted = 1;
+          break;
+       }
+    }
+    if ( !inserted )
+    {
+       post( "pix_opencv_lk : max markers reached" );
+    }
+}
+
+void  pix_opencv_lk :: deleteMess(float index)
+{
+  int i;
+
+    if ( ( index < 1.0 ) || ( index > MAX_MARKERS ) )
+    {
+       return;
+    }
+
+    x_xmark[(int)index-1] = -1;
+    x_ymark[(int)index-1] = -1;
+
+}
+
+void  pix_opencv_lk :: clearMess(void)
+{
+  int i;
+
+    for ( i=0; i<MAX_MARKERS; i++)
+    {
+      x_xmark[i] = -1;
+      x_ymark[i] = -1;
+    }
+
+}
+
+void  pix_opencv_lk :: minDistanceMess(float mindistance)
+{
+    if (mindistance>1.0) min_distance = (int)mindistance;
+}
+
+void  pix_opencv_lk :: maxMoveMess(float maxmove)
+{
+  // has to be more than the size of a point
+  if (maxmove>=3.0) maxmove = (int)maxmove;
+}
+
diff --git a/pix_opencv_lk.h b/pix_opencv_lk.h
new file mode 100755
index 0000000..3f8c8f6
--- /dev/null
+++ b/pix_opencv_lk.h
@@ -0,0 +1,116 @@
+/*-----------------------------------------------------------------
+LOG
+    GEM - Graphics Environment for Multimedia
+
+    Change pix to greyscale
+
+    Copyright (c) 1997-1999 Mark Danks. mark@danks.org
+    Copyright (c) Günther Geiger. geiger@epy.co.at
+    Copyright (c) 2001-2002 IOhannes m zmoelnig. forum::für::umläute. IEM. zmoelnig@iem.kug.ac.at
+    Copyright (c) 2002 James Tittle & Chris Clepper
+    For information on usage and redistribution, and for a DISCLAIMER OF ALL
+    WARRANTIES, see the file, "GEM.LICENSE.TERMS" in this distribution.
+
+-----------------------------------------------------------------*/
+
+#ifndef INCLUDE_PIX_OPENCV_DISTRANS_H_
+#define INCLUDE_PIX_OPENCV_DISTRANS_H_
+
+#include "Base/GemPixObj.h"
+
+#ifndef _EiC
+#include "cv.h"
+#endif
+
+#define MAX_MARKERS 10
+const int MAX_COUNT = 500;
+
+/*-----------------------------------------------------------------
+-------------------------------------------------------------------
+CLASS
+    pix_opencv_lk
+    
+    Change pix to greyscale
+
+KEYWORDS
+    pix
+    
+DESCRIPTION
+   
+-----------------------------------------------------------------*/
+class GEM_EXTERN pix_opencv_lk : public GemPixObj
+{
+    CPPEXTERN_HEADER(pix_opencv_lk, GemPixObj)
+
+    public:
+
+	//////////
+	// Constructor
+    	pix_opencv_lk();
+    	
+    protected:
+    	
+    	//////////
+    	// Destructor
+    	virtual ~pix_opencv_lk();
+
+    	//////////
+    	// Do the processing
+    	virtual void 	processRGBAImage(imageStruct &image);
+    	virtual void 	processRGBImage(imageStruct &image);
+	virtual void 	processYUVImage(imageStruct &image);
+    	virtual void 	processGrayImage(imageStruct &image); 
+
+        void  winSizeMess(float winsize);
+        void  nightModeMess(float nightmode);
+        void  qualityMess(float quality);
+        void  initMess(void);
+        void  markMess(float mx, float my);
+        void  deleteMess(float index);
+        void  clearMess(void);
+        void  minDistanceMess(float mindistance);
+        void  maxMoveMess(float maxmove);
+
+        int comp_xsize;
+        int comp_ysize;
+
+        t_outlet *m_dataout;
+        t_atom x_list[3];
+        int win_size;
+        double quality;
+        int min_distance;
+        int night_mode;
+        int maxmove;
+
+    private:
+    
+    	//////////
+    	// Static member functions
+        static void  winSizeMessCallback(void *data, t_floatarg winsize);
+        static void  nightModeMessCallback(void *data, t_floatarg nightmode);
+        static void  qualityMessCallback(void *data, t_floatarg quality);
+        static void  initMessCallback(void *data);
+        static void  markMessCallback(void *data, t_floatarg mx, t_floatarg my);
+        static void  deleteMessCallback(void *data, t_floatarg index);
+        static void  clearMessCallback(void *data);
+        static void  minDistanceMessCallback(void *data, t_floatarg mindistance);
+        static void  maxMoveMessCallback(void *data, t_floatarg maxmove);
+
+	// Internal Open CV data
+        IplImage *rgba, *rgb, *grey, *prev_grey, *pyramid, *prev_pyramid, *swap_temp;
+        int x_xmark[MAX_MARKERS];
+        int x_ymark[MAX_MARKERS];
+        int x_found[MAX_MARKERS];
+        CvPoint2D32f* points[2], *swap_points;
+        char* status;
+        int count;
+        int need_to_init;
+        int flags;
+        int add_remove_pt;
+        CvPoint pt;
+        CvFont font;
+
+	
+};
+
+#endif	// for header file