adding object allowing multiple cameras calibration

svn path=/trunk/externals/pix_opencv/; revision=15169

7 files changed, 1161 insertions, 1 deletions

diff --git a/Makefile.in b/Makefile.in
index 3384504..ef8ad0b 100644
--- a/Makefile.in
+++ b/Makefile.in
@@ -30,7 +30,7 @@ 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 pix_opencv_lk.cc pix_opencv_hist_compare.cc pix_opencv_knear.cc pix_opencv_threshold.cc pix_opencv_floodfill.cc pix_opencv_athreshold.cc pix_opencv_bgstats.cc pix_opencv_camshift.cc pix_opencv_hu_compare.cc pix_opencv_pgh_compare.cc pix_opencv_hough_circles.cc pix_opencv_hough_lines.cc pix_opencv_hu_moments.cc pix_opencv_contours_convexhull.cc pix_opencv_colorfilt.cc pix_opencv_of_bm.cc pix_opencv_of_hs.cc pix_opencv_of_lk.cc pix_opencv_calibration.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 pix_opencv_hist_compare.cc pix_opencv_knear.cc pix_opencv_threshold.cc pix_opencv_floodfill.cc pix_opencv_athreshold.cc pix_opencv_bgstats.cc pix_opencv_camshift.cc pix_opencv_hu_compare.cc pix_opencv_pgh_compare.cc pix_opencv_hough_circles.cc pix_opencv_hough_lines.cc pix_opencv_hu_moments.cc pix_opencv_contours_convexhull.cc pix_opencv_colorfilt.cc pix_opencv_of_bm.cc pix_opencv_of_hs.cc pix_opencv_of_lk.cc pix_opencv_calibration.cc pix_opencv_warpperspective.cc pix_opencv_findchessboardcorners.cc
 
 all: $(SOURCES:.cc=.$(EXTENSION)) $(SOURCES_OPT:.cc=.$(EXTENSION))
 
diff --git a/pix_opencv_findchessboardcorners-help.pd b/pix_opencv_findchessboardcorners-help.pd
new file mode 100644
index 0000000..1128ea5
--- /dev/null
+++ b/pix_opencv_findchessboardcorners-help.pd
@@ -0,0 +1,174 @@
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+#X obj 583 433 cnv 15 550 120 empty empty empty 20 12 0 14 -24198 -66577
+0;
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+#X msg 469 36 dialog;
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+#X obj 444 599 square 2;
+#X obj 596 601 square 2;
+#X obj 596 526 pix_opencv_findchessboardcorners;
+#X text 25 137 pix_opencv_findchessboardcorners :: Search inner corners
+coordinates of a known chessboard pattern;
+#X text 22 173 It is useful to calibration severals cameras togehter
+or camera(s) and video beamer(s)...;
+#X obj 444 314 pix_gray;
+#X msg 492 111 driver 0;
+#X obj 817 582 print;
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+#X obj 598 237 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0
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+#X text 615 237 switch gray/color;
+#X text 830 558 print out raw corners coordinates...;
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+#X msg 488 86 device /dev/video0;
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+#X text 784 493 pattern size (number of inner corners in each direction)
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+#X obj 598 257 == 0;
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diff --git a/pix_opencv_findchessboardcorners.cc b/pix_opencv_findchessboardcorners.cc
new file mode 100644
index 0000000..5593033
--- /dev/null
+++ b/pix_opencv_findchessboardcorners.cc
@@ -0,0 +1,226 @@
+////////////////////////////////////////////////////////
+//
+// 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_findchessboardcorners.h"
+#include <stdio.h>
+
+CPPEXTERN_NEW(pix_opencv_findchessboardcorners)
+
+/////////////////////////////////////////////////////////
+//
+// pix_opencv_findchessboardcorners
+//
+/////////////////////////////////////////////////////////
+// Constructor
+//
+/////////////////////////////////////////////////////////
+pix_opencv_findchessboardcorners :: pix_opencv_findchessboardcorners()
+{ 
+  //inlet_new(this->x_obj, &this->x_obj->ob_pd, gensym("float"), gensym("minarea"));
+  //inlet_new(this->x_obj, &this->x_obj->ob_pd, gensym("float"), gensym("maxarea"));
+  m_dataout = outlet_new(this->x_obj, 0);
+  //m_countout = outlet_new(this->x_obj, 0);
+  comp_xsize  = 320;
+  comp_ysize  = 240;
+  gray = NULL;
+  tmp_color = NULL;
+  tmp_gray = NULL;
+  rgb = NULL;
+  
+  pattern_size = cvSize(6,7);
+  corners = new CvPoint2D32f[pattern_size.width * pattern_size.height];
+  cornerCount = 0;
+  win = cvSize(11, 11); 
+  zero_zone = cvSize(-1,-1);
+  flags = CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS;
+  criteria = cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1);
+  coord_list = new t_atom[pattern_size.width * pattern_size.height * 2]; // all coordinates are packed in one list [x0 y0 x1 y1 .. xn yn(
+  
+  post("pix_opencv_findchessboardcorners by Antoine Villeret");
+  post("build on %s at %s", __DATE__, __TIME__);
+
+}
+
+/////////////////////////////////////////////////////////
+// Destructor
+//
+/////////////////////////////////////////////////////////
+pix_opencv_findchessboardcorners :: ~pix_opencv_findchessboardcorners()
+{ 
+    	//Destroy cv_images to clean memory
+    	if (gray) cvReleaseImage(&gray);
+    	if (rgb) cvReleaseImage(&rgb);
+    	if (tmp_color) cvReleaseImage(&tmp_color);
+		if (tmp_gray) cvReleaseImage(&tmp_gray);
+}
+
+/////////////////////////////////////////////////////////
+// processImage
+//
+/////////////////////////////////////////////////////////
+void pix_opencv_findchessboardcorners :: processRGBAImage(imageStruct &image)
+{
+  if ((this->comp_xsize!=image.xsize)||(this->comp_ysize!=image.ysize)||(!rgb)) 
+  {
+
+	this->comp_xsize = image.xsize;
+	this->comp_ysize = image.ysize;
+
+    //Destroy cv_images to clean memory
+    if(gray) cvReleaseImage(&gray);
+    if(rgb) cvReleaseImage(&rgb);
+    if(tmp_color) cvReleaseImage(&tmp_color);
+
+	// Create images with new sizes
+	rgb = cvCreateImage(cvSize(image.xsize,image.ysize), IPL_DEPTH_8U, 4);
+	tmp_gray = cvCreateImage(cvSize(image.xsize,image.ysize), IPL_DEPTH_8U, 1);
+    }
+    
+    // no need to copy a lot of memory, just point to it...
+    rgb->imageData = (char*) image.data;    
+    cvCvtColor( rgb, tmp_gray, CV_RGBA2GRAY);
+    
+	//~ printf("find corner...*/\n");
+	int found = cvFindChessboardCorners( tmp_gray, pattern_size, corners, &cornerCount, flags);
+	//~ printf(" found : %d\n",found);
+	
+	
+	if ( found ) {
+		//~ printf("find corner sub pix...\n");
+		cvFindCornerSubPix( tmp_gray, corners, cornerCount, win, zero_zone, criteria);
+	}
+	
+	// Draw corners on the image
+	//cvCvtColor( gray, tmp_color, CV_GRAY2RGBA);
+	cvDrawChessboardCorners( rgb, pattern_size, corners, cornerCount, found);
+	//cvCvtColor( tmp_color, gray, CV_RGBA2GRAY);
+	
+    // send out corners screen coordinates if all corners have been found
+    if (found) {
+		int i;
+		CvPoint2D32f *pt;
+		pt = (CvPoint2D32f *) corners;
+		for ( i=0; i<pattern_size.width * pattern_size.height ; i++ )
+		{
+			 SETFLOAT(&coord_list[i*2], pt->x);
+			 SETFLOAT(&coord_list[i*2+1], pt->y);
+			 pt++;
+		}
+		outlet_list( m_dataout, 0, pattern_size.width * pattern_size.height*2, coord_list );
+	}
+    //~ printf("process RGBA image done\n");
+}
+
+void pix_opencv_findchessboardcorners :: processRGBImage(imageStruct &image)
+{
+	// TODO
+    error("cant't support RGB image for now");
+}
+
+void pix_opencv_findchessboardcorners :: processYUVImage(imageStruct &image)
+{
+	// TODO
+	error( "pix_opencv_findchessboardcorners : yuv format not supported" );
+}
+    	
+void pix_opencv_findchessboardcorners :: processGrayImage(imageStruct &image)
+{ 
+	//~ printf("process gray image\n");
+  if ((this->comp_xsize!=image.xsize)||(this->comp_ysize!=image.ysize)||(!gray)) 
+  {
+
+	this->comp_xsize = image.xsize;
+	this->comp_ysize = image.ysize;
+
+    //Destroy cv_images to clean memory
+    if(gray) cvReleaseImage(&gray);
+    if(rgb) cvReleaseImage(&rgb);
+    if(tmp_color) cvReleaseImage(&tmp_color);
+    if(tmp_gray) cvReleaseImage(&tmp_gray);
+
+	// Create images with new sizes
+	gray = cvCreateImage(cvSize(image.xsize,image.ysize), IPL_DEPTH_8U, 1);
+	tmp_color = cvCreateImage(cvSize(image.xsize,image.ysize), IPL_DEPTH_8U, 4);
+    }
+    
+    // no need to copy a lot of memory, just point to it...
+    gray->imageData = (char*) image.data;    
+    
+	//~ printf("find corner...*/\n");
+	int found = cvFindChessboardCorners( gray, pattern_size, corners, &cornerCount, flags);
+	//~ printf(" found : %d\n",found);
+	
+	
+	if ( found ) {
+		//~ printf("find corner sub pix...\n");
+		cvFindCornerSubPix( gray, corners, cornerCount, win, zero_zone, criteria);
+	}
+	
+	// Draw corners on the image
+	cvCvtColor( gray, tmp_color, CV_GRAY2RGBA);
+	cvDrawChessboardCorners( tmp_color, pattern_size, corners, cornerCount, found);
+	cvCvtColor( tmp_color, gray, CV_RGBA2GRAY);
+	
+    // send out corners screen coordinates if all corners have been found
+    if (found) {
+		int i;
+		CvPoint2D32f *pt;
+		pt = (CvPoint2D32f *) corners;
+		for ( i=0; i<pattern_size.width * pattern_size.height ; i++ )
+		{
+			 SETFLOAT(&coord_list[i*2], pt->x);
+			 SETFLOAT(&coord_list[i*2+1], pt->y);
+			 pt++;
+		}
+		outlet_list( m_dataout, 0, pattern_size.width * pattern_size.height*2, coord_list );
+	}
+    //~ printf("process gray image done\n");
+}
+
+/////////////////////////////////////////////////////////
+// floatThreshMess
+//
+/////////////////////////////////////////////////////////
+void pix_opencv_findchessboardcorners :: patternSizeMess (int xsize, int ysize)
+{
+	if ( xsize < 3 || ysize < 3 ) {
+		error("patternSize should be at least 3x3"); 
+		return;
+	}
+	pattern_size=cvSize(xsize,ysize);
+	// update corners array & output list size
+	delete coord_list;
+	coord_list = new t_atom[pattern_size.width * pattern_size.height * 2];
+	delete corners;
+	corners = new CvPoint2D32f[pattern_size.width * pattern_size.height];
+}
+
+/////////////////////////////////////////////////////////
+// static member function
+//
+/////////////////////////////////////////////////////////
+void pix_opencv_findchessboardcorners :: obj_setupCallback(t_class *classPtr)
+{
+	// TODO add support for message : win, zero_zone, flags and criteria
+	  class_addmethod(classPtr, (t_method)&pix_opencv_findchessboardcorners::patternSizeMessCallback,
+  		  gensym("patternSize"), A_FLOAT, A_FLOAT, A_NULL);	 
+}
+
+void pix_opencv_findchessboardcorners :: patternSizeMessCallback(void *data, t_floatarg xsize, t_floatarg ysize)
+{
+		GetMyClass(data)->patternSizeMess((int)xsize, (int)ysize);
+}
diff --git a/pix_opencv_findchessboardcorners.h b/pix_opencv_findchessboardcorners.h
new file mode 100644
index 0000000..08dc91d
--- /dev/null
+++ b/pix_opencv_findchessboardcorners.h
@@ -0,0 +1,98 @@
+/*-----------------------------------------------------------------
+LOG
+    GEM - Graphics Environment for Multimedia
+
+    Contours Bounding Rectangle detection
+
+    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.
+
+-----------------------------------------------------------------*/
+// findchessboardcorners integration by Antoine Villeret - 2011
+
+#ifndef INCLUDE_PIX_OPENCV_FINDCHESSBOARDCORNERS_H_
+#define INCLUDE_PIX_OPENCV_FINDCHESSBOARDCORNERS_H_
+
+#ifndef _EiC
+#include "cv.h"
+#endif
+
+#include "Base/GemPixObj.h"
+
+#define MAX_MARKERS 500
+
+/*-----------------------------------------------------------------
+-------------------------------------------------------------------
+CLASS
+    pix_opencv_findchessboardcorners
+    
+    Chessboard corners detection
+
+KEYWORDS
+    pix
+    
+DESCRIPTION
+   
+-----------------------------------------------------------------*/
+class GEM_EXTERN pix_opencv_findchessboardcorners : public GemPixObj
+{
+    CPPEXTERN_HEADER(pix_opencv_findchessboardcorners, GemPixObj)
+
+    public:
+
+	    //////////
+	    // Constructor
+    	pix_opencv_findchessboardcorners();
+    	
+    protected:
+    	
+    	//////////
+    	// Destructor
+    	virtual ~pix_opencv_findchessboardcorners();
+
+		//////////
+		// Do the processing
+		virtual void 	processRGBAImage(imageStruct &image);
+		virtual void 	processRGBImage(imageStruct &image);
+		virtual void 	processYUVImage(imageStruct &image);
+		virtual void 	processGrayImage(imageStruct &image);
+		
+		/////////
+		// Setup
+		void 	patternSizeMess (int xsize, int ysize);
+
+
+		// to detect changes in the image size
+		int 	comp_xsize;
+		int		comp_ysize;
+
+        
+        CvSize pattern_size; // pattern size (inner corners count in 2D)
+        CvPoint2D32f *corners; // array to store corners coordinates
+        int cornerCount; // number of corners found
+        int flags; // flags for cvFindChessboardCorners
+        CvSize win; // half of the search window size for cvFindCornerSubPix
+        CvSize zero_zone; // for cvFindCornerSubPix
+        CvTermCriteria criteria; // for cvFindCornerSubPix
+        t_atom *coord_list;
+
+
+    private:
+    
+		t_outlet 	*m_dataout;
+    	//////////
+    	// Static member functions
+		static void patternSizeMessCallback(void *data, t_floatarg xsize, t_floatarg ysize);
+
+
+		/////////
+		// IplImage needed
+    	IplImage 	*rgb, *tmp_color, *gray, *tmp_gray;
+	
+};
+
+#endif	// for header file
diff --git a/pix_opencv_warpperspective-help.pd b/pix_opencv_warpperspective-help.pd
new file mode 100644
index 0000000..33f2452
--- /dev/null
+++ b/pix_opencv_warpperspective-help.pd
@@ -0,0 +1,232 @@
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+#X obj 187 328 pix_texture;
+#X obj 187 308 pix_opencv_findchessboardcorners;
+#X obj 187 254 pack 6 7;
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+#X floatatom 240 234 5 0 0 0 - - -;
+#X msg 187 274 patternSize \$1 \$2;
+#N canvas 502 24 715 644 generates_coords 0;
+#X obj 49 31 inlet;
+#X obj 77 251 until;
+#X obj 77 358 f;
+#X msg 95 335 0;
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+#X obj 90 143 t b f;
+#X obj 81 501 list;
+#X obj 57 521 list;
+#X obj 81 482 list prepend;
+#X obj 58 591 outlet;
+#X text 185 97 generates source coordinates to find homography;
+#X obj 89 437 + 0;
+#X obj 221 437 + 0;
+#X floatatom 420 348 5 0 0 0 offset_y - -;
+#X obj 57 89 t b l b;
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+#X floatatom 420 328 5 0 0 0 offset_x - -;
+#X floatatom 420 308 5 0 0 0 taille_du_cote_en_m - -;
+#X obj 105 358 + 0.25;
+#X obj 237 358 + 0.25;
+#X msg 90 62 6 7;
+#X obj 57 545 list prepend dstMatrix;
+#X obj 57 566 route list;
+#X obj 267 269 t b a;
+#X obj 411 185 loadbang;
+#X obj 352 399 t b a;
+#X obj 277 389 t b a;
+#X msg 409 216 11;
+#X msg 450 216 493;
+#X msg 492 216 137;
+#X connect 0 0 21 0;
+#X connect 1 0 2 0;
+#X connect 2 0 18 0;
+#X connect 2 0 26 0;
+#X connect 3 0 2 1;
+#X connect 4 0 12 0;
+#X connect 4 1 11 1;
+#X connect 5 0 15 0;
+#X connect 6 0 22 0;
+#X connect 7 0 10 0;
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+#X connect 8 0 27 0;
+#X connect 9 0 8 1;
+#X connect 10 0 6 0;
+#X connect 10 1 8 0;
+#X connect 11 0 23 0;
+#X connect 12 0 11 0;
+#X connect 12 1 6 1;
+#X connect 13 0 14 1;
+#X connect 13 0 15 1;
+#X connect 14 0 29 0;
+#X connect 15 0 13 0;
+#X connect 18 0 5 0;
+#X connect 19 0 5 1;
+#X connect 20 0 33 0;
+#X connect 21 0 14 0;
+#X connect 21 1 4 0;
+#X connect 21 2 15 1;
+#X connect 22 0 1 0;
+#X connect 22 1 3 0;
+#X connect 23 0 7 0;
+#X connect 23 1 9 0;
+#X connect 24 0 34 0;
+#X connect 25 0 31 0;
+#X connect 26 0 2 1;
+#X connect 27 0 8 1;
+#X connect 28 0 21 0;
+#X connect 29 0 30 0;
+#X connect 30 0 16 0;
+#X connect 31 0 28 0;
+#X connect 31 1 27 1;
+#X connect 31 1 26 1;
+#X connect 32 0 35 0;
+#X connect 32 0 36 0;
+#X connect 32 0 37 0;
+#X connect 33 0 28 0;
+#X connect 33 1 19 1;
+#X connect 34 0 28 0;
+#X connect 34 1 18 1;
+#X connect 35 0 25 0;
+#X connect 36 0 24 0;
+#X connect 37 0 20 0;
+#X restore 426 309 pd generates_coords;
+#X obj 408 350 list prepend srcMatrix;
+#X obj 187 348 translateXYZ 2 2 0;
+#X obj 187 368 rectangle 2 1.5;
+#X obj 408 377 route list;
+#X obj 203 571 print;
+#X obj 24 512 separator;
+#X obj 50 49 loadbang;
+#X obj 104 262 spigot;
+#X obj 139 139 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0
+1;
+#X msg 50 69 open shoot-2.mov \, auto 1;
+#X obj 24 301 spigot 1;
+#X obj 112 240 == 0;
+#X obj 24 113 pix_grey;
+#X obj 24 591 rectangle 4 3;
+#X obj 23 -3 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0 1
+;
+#X text 485 9 pix_opencv_wapperspective finds the transformation matrix
+between srcMatrix and dstMatrix;
+#X text 485 38 it sends through its second outlet the 3x3 transformation
+matrix when a correct scrMatrix message is received;
+#X text 484 65 you should first initiliaze dstMatrix;
+#X obj 24 539 pix_opencv_warpperspective;
+#X text 482 86 it also applied the tansformation matrix on incomming
+image stream;
+#X text 482 151 pix_opencv_findchessboardcorners finds chessboard corners
+in the incomming image stream and send out corners coordinates as a
+list trought its second outlet;
+#X text 484 200 it also prints found corners on the image stream;
+#X msg 409 423 mapMatrix 1 0 0 0 1 0 0 0 1;
+#X text 408 404 you can also set the map matrix directly;
+#X msg 409 443 mapMatrix 0.5 0 0 0 0.5 0 0 0 1;
+#X text 614 422 identity;
+#X text 635 444 scale by 0.5;
+#X msg 409 463 mapMatrix 0 1 0 1 0 0 0 0 2;
+#X text 608 465 rotation by 90deg and scale by 0.5;
+#X text 156 134 switch to find corners and mapMatrix and switch back
+to apply it;
+#X text 186 211 number of inner corners in each direction;
+#N canvas 0 0 936 545 wrap_perspective_GPU 0;
+#X obj 251 443 mesh_square 10 10;
+#X obj 301 277 /;
+#X obj 351 278 /;
+#X obj 301 233 loadbang;
+#X obj 251 356 GEMglMultTransposeMatrixf;
+#X obj 251 414 translateXYZ 1 1 0;
+#X obj 251 299 scaleXYZ 0.003 0.003 0;
+#X obj 251 376 scaleXYZ 639 479 0;
+#X obj 251 212 translateXYZ -5.33333 -4 0;
+#X obj 251 395 scaleXYZ 0.5 0.5 0;
+#X msg 301 255 5.3333 320;
+#X msg 377 255 4 240;
+#X msg 423 330 \$1 \$4 0 \$7 \$2 \$5 0 \$8 0 0 1 0 \$3 \$6 0 \$9;
+#X text 46 22 wrap_persective can be easilly computed by the GPU in
+order to boost performace;
+#X obj 251 188 spigot;
+#X obj 290 138 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0
+1;
+#X obj 39 105 t a a;
+#X obj 39 190 spigot 1;
+#X obj 92 164 == 0;
+#X obj 39 253 rectangle 4 3;
+#X obj 39 233 pix_texture;
+#X obj 39 211 pix_opencv_warpperspective;
+#X text 306 137 switch CPU / GPU;
+#X text 454 256 Since the matrice is computed for somthing that range
+from 0 to 639 in X \, and from 0 to 479 in Y \, one have to convert
+(scale / translate) the primitive coordinate to fit the transformation
+matrix.;
+#X connect 1 0 6 1;
+#X connect 2 0 6 2;
+#X connect 3 0 10 0;
+#X connect 3 0 11 0;
+#X connect 4 0 7 0;
+#X connect 5 0 0 0;
+#X connect 6 0 4 0;
+#X connect 7 0 9 0;
+#X connect 8 0 6 0;
+#X connect 9 0 5 0;
+#X connect 10 0 1 0;
+#X connect 11 0 2 0;
+#X connect 12 0 4 1;
+#X connect 14 0 8 0;
+#X connect 15 0 14 1;
+#X connect 15 0 18 0;
+#X connect 16 0 17 0;
+#X connect 16 1 14 0;
+#X connect 17 0 21 0;
+#X connect 18 0 17 1;
+#X connect 20 0 19 0;
+#X connect 21 0 20 0;
+#X connect 21 1 12 0;
+#X restore 413 589 pd wrap_perspective_GPU;
+#X connect 0 0 5 0;
+#X connect 2 0 1 0;
+#X connect 3 0 1 0;
+#X connect 4 0 26 0;
+#X connect 5 0 25 0;
+#X connect 5 2 22 0;
+#X connect 6 0 14 0;
+#X connect 7 0 6 0;
+#X connect 7 1 13 0;
+#X connect 8 0 11 0;
+#X connect 8 0 12 0;
+#X connect 9 0 8 0;
+#X connect 10 0 8 1;
+#X connect 11 0 7 0;
+#X connect 12 0 31 0;
+#X connect 13 0 16 0;
+#X connect 14 0 15 0;
+#X connect 16 0 31 0;
+#X connect 18 0 31 0;
+#X connect 19 0 22 0;
+#X connect 20 0 7 0;
+#X connect 21 0 20 1;
+#X connect 21 0 24 0;
+#X connect 22 0 5 0;
+#X connect 23 0 18 0;
+#X connect 24 0 23 1;
+#X connect 25 0 23 0;
+#X connect 25 0 20 0;
+#X connect 27 0 0 0;
+#X connect 31 0 4 0;
+#X connect 31 1 17 0;
+#X connect 35 0 31 0;
+#X connect 37 0 31 0;
+#X connect 40 0 31 0;
diff --git a/pix_opencv_warpperspective.cc b/pix_opencv_warpperspective.cc
new file mode 100644
index 0000000..c97dfa0
--- /dev/null
+++ b/pix_opencv_warpperspective.cc
@@ -0,0 +1,335 @@
+////////////////////////////////////////////////////////
+//
+// 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.
+//
+/////////////////////////////////////////////////////////
+//
+// pix_opencv_warpperspective by Antoine Villeret - 2011
+//
+
+
+
+#include "pix_opencv_warpperspective.h"
+#include <stdio.h>
+
+CPPEXTERN_NEW(pix_opencv_warpperspective)
+
+/////////////////////////////////////////////////////////
+// Constructor
+//
+/////////////////////////////////////////////////////////
+
+pix_opencv_warpperspective :: pix_opencv_warpperspective()
+{ 
+  //inlet_new(this->x_obj, &this->x_obj->ob_pd, gensym("float"), gensym("minarea"));
+  //inlet_new(this->x_obj, &this->x_obj->ob_pd, gensym("float"), gensym("maxarea"));
+  m_dataout = outlet_new(this->x_obj, 0);
+  //m_countout = outlet_new(this->x_obj, 0);
+  comp_xsize  = 320;
+  comp_ysize  = 240;
+  gray = NULL;
+  tmp = NULL;
+  rgb = NULL;
+  mapMatrix = cvCreateMat(3,3,CV_32FC1);
+  srcMatrix = cvCreateMat(4,2,CV_32FC1);
+  dstMatrix = cvCreateMat(4,2,CV_32FC1);
+  
+  cvSet(mapMatrix, cvScalar(0)); // set all to 0.
+  CV_MAT_ELEM( *mapMatrix, float, 0, 0 ) = 1.; // then make identity
+  CV_MAT_ELEM( *mapMatrix, float, 1, 1 ) = 1.;
+  
+  // initialize srcMatrix & dstMatrix to the same...
+  CV_MAT_ELEM( *srcMatrix, float, 0, 0 ) = 0.;
+  CV_MAT_ELEM( *srcMatrix, float, 0, 1 ) = 0.;
+  CV_MAT_ELEM( *srcMatrix, float, 1, 0 ) = 1.;
+  CV_MAT_ELEM( *srcMatrix, float, 1, 1 ) = 0.;
+  CV_MAT_ELEM( *srcMatrix, float, 2, 0 ) = 1.;
+  CV_MAT_ELEM( *srcMatrix, float, 2, 1 ) = 1.;
+  CV_MAT_ELEM( *srcMatrix, float, 3, 0 ) = 0.;
+  CV_MAT_ELEM( *srcMatrix, float, 3, 1 ) = 1.;
+  
+  CV_MAT_ELEM( *dstMatrix, float, 0, 0 ) = 0.;
+  CV_MAT_ELEM( *dstMatrix, float, 0, 1 ) = 0.;
+  CV_MAT_ELEM( *dstMatrix, float, 1, 0 ) = 1.;
+  CV_MAT_ELEM( *dstMatrix, float, 1, 1 ) = 0.;
+  CV_MAT_ELEM( *dstMatrix, float, 2, 0 ) = 1.;
+  CV_MAT_ELEM( *dstMatrix, float, 2, 1 ) = 1.;
+  CV_MAT_ELEM( *dstMatrix, float, 3, 0 ) = 0.;
+  CV_MAT_ELEM( *dstMatrix, float, 3, 1 ) = 1.;
+  
+  mapMatrixList=new t_atom[9];
+    
+  flags =  CV_WARP_FILL_OUTLIERS; // TODO add a set method
+  findmethod = 0; // TODO add a set method
+  
+  printf("build on %s at %s\n", __DATE__, __TIME__);
+  post("pix_opencv_warpperspective by Antoine Villeret");
+  post("build on %s at %s", __DATE__, __TIME__);
+
+}
+
+/////////////////////////////////////////////////////////
+// Destructor
+//
+/////////////////////////////////////////////////////////
+pix_opencv_warpperspective :: ~pix_opencv_warpperspective()
+{ 
+    	//Destroy cv_images to clean memory
+    	//if (gray) cvReleaseImage(&gray);  // TODO free image header but not data because it points to Gem image...
+    	if (rgb) cvReleaseImage(&rgb);
+    	//if (tmp) cvReleaseImage(&tmp); // the same
+    	if (mapMatrix) cvReleaseMat(&mapMatrix);
+     	if (srcMatrix) cvReleaseMat(&srcMatrix);
+    	if (dstMatrix) cvReleaseMat(&dstMatrix);
+}
+
+/////////////////////////////////////////////////////////
+// processImage
+//
+/////////////////////////////////////////////////////////
+void pix_opencv_warpperspective :: processRGBAImage(imageStruct &image)
+{
+  	if ((this->comp_xsize!=image.xsize)||(this->comp_ysize!=image.ysize)||(!rgb)) 
+	{
+		this->comp_xsize = image.xsize;
+		this->comp_ysize = image.ysize;
+
+		//Destroy cv_images to clean memory
+		if(gray) cvReleaseImage(&gray);
+		if(rgb) cvReleaseImage(&rgb);
+		if(tmp) cvReleaseImage(&tmp);
+
+		// Create images with new sizes
+		rgb = cvCreateImage(cvSize(image.xsize,image.ysize), IPL_DEPTH_8U, 4);
+		tmp = cvCreateImage(cvSize(image.xsize,image.ysize), IPL_DEPTH_8U, 4);
+	}
+	
+    // no need to copy a lot of memory, just point to it...
+    rgb->imageData = (char*) image.data;
+
+   	cvWarpPerspective(rgb, tmp, mapMatrix, flags, cvScalar(0));
+	memcpy(image.data, tmp->imageData, image.xsize*image.ysize);
+	
+}
+
+void pix_opencv_warpperspective :: processRGBImage(imageStruct &image)
+{
+	// TODO
+    error("cant't support RGB image for now");
+}
+
+void pix_opencv_warpperspective :: processYUVImage(imageStruct &image)
+{
+	// TODO
+	error( "pix_opencv_warpperspective : yuv format not supported" );
+}
+    	
+void pix_opencv_warpperspective :: processGrayImage(imageStruct &image)
+{ 
+	if ((this->comp_xsize!=image.xsize)||(this->comp_ysize!=image.ysize)||(!gray)) 
+	{
+		this->comp_xsize = image.xsize;
+		this->comp_ysize = image.ysize;
+
+		//Destroy cv_images to clean memory
+		if(gray) cvReleaseImage(&gray);
+		if(rgb) cvReleaseImage(&rgb);
+		if(tmp) cvReleaseImage(&tmp);
+
+		// Create images with new sizes
+		gray = cvCreateImage(cvSize(image.xsize,image.ysize), IPL_DEPTH_8U, 1);
+		tmp = cvCreateImage(cvSize(image.xsize,image.ysize), IPL_DEPTH_8U, 1);
+	}
+
+    // no need to copy a lot of memory, just point to it...
+    gray->imageData = (char*) image.data;
+    
+   	cvWarpPerspective(gray, tmp, mapMatrix, flags, cvScalar(0));
+	memcpy(image.data, tmp->imageData, image.xsize*image.ysize);
+	
+}
+
+/////////////////////////////////////////////////////////
+// floatThreshMess
+//
+/////////////////////////////////////////////////////////
+void pix_opencv_warpperspective :: mapMatrixMess (int argc, t_atom *argv)
+{
+	post("set mapMatrix");
+	int i,j;
+	if (argc != 9) { 
+			error("map matrix should be 3x3"); 
+			return; 
+		}
+	for ( i = 0; i < 9 ; i++) {
+		if (argv[i].a_type != A_FLOAT) { 
+			error("map matrix should be float");
+			return; 
+		}
+	}
+		
+	// fillin the mapMatrix
+	CV_MAT_ELEM( *mapMatrix, float, 0, 0 ) = argv[0].a_w.w_float;
+	CV_MAT_ELEM( *mapMatrix, float, 1, 0 ) = argv[1].a_w.w_float;
+	CV_MAT_ELEM( *mapMatrix, float, 2, 0 ) = argv[2].a_w.w_float;
+	CV_MAT_ELEM( *mapMatrix, float, 0, 1 ) = argv[3].a_w.w_float;
+	CV_MAT_ELEM( *mapMatrix, float, 1, 1 ) = argv[4].a_w.w_float;
+	CV_MAT_ELEM( *mapMatrix, float, 2, 1 ) = argv[5].a_w.w_float;
+	CV_MAT_ELEM( *mapMatrix, float, 0, 2 ) = argv[6].a_w.w_float;
+	CV_MAT_ELEM( *mapMatrix, float, 1, 2 ) = argv[7].a_w.w_float;
+	CV_MAT_ELEM( *mapMatrix, float, 2, 2 ) = argv[8].a_w.w_float;
+	
+	printf("---mapMatrix---\n");
+	for ( j = 0 ; j < 3 ; j++ ){
+		for( i=0 ; i<3 ; i++){
+			printf("%.2f,\t", CV_MAT_ELEM( *mapMatrix, float, i, j));
+		}
+		printf("\n");
+	}
+}
+
+void pix_opencv_warpperspective :: srcMatrixMess (int argc, t_atom *argv)
+{
+	//~ printf("set srcMatrix\n");
+	int i,j;
+	float a;
+	//~ printf("check parity\n");
+	if ( argc % 2 ) { 
+		error("src is should be a list of couple x/y values"); 
+		return; 
+	}
+	//~ printf("check size\n");
+	if ( argc != dstMatrix->rows * dstMatrix->cols )
+	{ 
+		error("src matrix should have the same size as dst matrix (which is %d x %d)", dstMatrix->cols, dstMatrix->rows);
+		return;
+	}
+	//~ printf("check type\n");	
+	for ( i = 0; i < argc ; i++) {		
+		if (argv[i].a_type != A_FLOAT) { 
+				error("src matrix should be float"); 
+				return; 
+			}
+	}
+
+	// fillin the srcMatrix
+	//~ printf("fillin srcMatrix\n");
+	for ( i = 0 ; i < dstMatrix->rows ; i++ )
+	{
+		CV_MAT_ELEM( *srcMatrix, float, i, 0 ) = argv[i*2].a_w.w_float;
+		CV_MAT_ELEM( *srcMatrix, float, i, 1 ) = argv[i*2+1].a_w.w_float; // does it work ?
+	}
+	findhomography();
+}
+
+void pix_opencv_warpperspective :: dstMatrixMess (int argc, t_atom *argv)
+{
+	//~ printf("set dstMatrix\n");
+	int i,j;
+	//~ printf("check parity\n");
+	if ( argc % 2 ){ 
+			error("dstMatrix is should be a list of x/y pairs"); 
+			return; 
+		}
+	//~ printf("check type\n");
+	for ( i = 0; i < argc ; i++) {
+		if (argv[i].a_type != A_FLOAT) {
+				error("dstMatrix should be float"); 
+				return;
+			}
+	}
+	//~ printf("dstMatrix-cols = %d,\t argc = %d\n", dstMatrix->rows, argc);
+	if ( dstMatrix->rows != argc/2 ) {
+		printf("re-create dstMatrix & srcMatrix\n");
+		// delete and recreate matrix if needed
+		cvReleaseMat(&dstMatrix);
+		cvReleaseMat(&srcMatrix);
+		dstMatrix = cvCreateMat(argc/2,2,CV_32FC1);
+		srcMatrix = cvCreateMat(argc/2,2,CV_32FC1);
+		cvSet(srcMatrix, cvScalar(0)); // set all to 0.
+	}
+	// fillin the dstMatrix
+	printf("fillin dstMatrix\n");
+	for ( i = 0 ; i < dstMatrix->rows ; i++ )
+	{
+		CV_MAT_ELEM( *dstMatrix, float, i, 0 ) = argv[i*2].a_w.w_float;
+		CV_MAT_ELEM( *dstMatrix, float, i, 1 ) = argv[i*2+1].a_w.w_float; // does it work ?
+	}
+	findhomography();
+}
+
+void pix_opencv_warpperspective :: findhomography( )
+{
+	int i,j;
+	//~ printf("find homography\n");
+		if ( srcMatrix->cols != dstMatrix->cols || srcMatrix->rows != dstMatrix->rows ) {
+			error("srcMatrix and dstMatrix should have the same size to compute homography !");
+			return;
+		}
+		/*
+		printf("--- srcMatrix ---");
+		for ( i = 0 ; i < srcMatrix->rows ; i++ ){
+			printf("%.2f\t", CV_MAT_ELEM( *srcMatrix, float, i, 0));
+			printf("%.2f\n", CV_MAT_ELEM( *srcMatrix, float, i, 1));
+		}
+		printf("--- dstMatrix ---");
+		for ( i = 0 ; i < dstMatrix->rows ; i++ ){
+			printf("%.2f\t", CV_MAT_ELEM( *dstMatrix, float, i, 0));
+			printf("%.2f\n", CV_MAT_ELEM( *dstMatrix, float, i, 1));
+		}
+		*/
+			
+		cvFindHomography(srcMatrix, dstMatrix, mapMatrix, findmethod, 0, NULL);
+		printf("---mapMatrix---\n");
+		for ( j = 0 ; j < 3 ; j++ ){
+			for( i=0 ; i<3 ; i++){
+				SETFLOAT(&mapMatrixList[i+j*3], CV_MAT_ELEM( *mapMatrix, float, i, j));
+				printf("%.2f,\t", CV_MAT_ELEM( *mapMatrix, float, i, j));
+			}
+			printf("\n");
+		}
+		// send out mapMatrix
+		outlet_list( m_dataout, 0, 9, mapMatrixList);
+}
+/////////////////////////////////////////////////////////
+// static member function
+//
+/////////////////////////////////////////////////////////
+void pix_opencv_warpperspective :: obj_setupCallback(t_class *classPtr)
+{
+	// TODO add method for message "flags"
+	// TODO treat list messages in a PD way ?
+	  class_addmethod(classPtr, (t_method)&pix_opencv_warpperspective::mapMatrixMessCallback,
+  		  gensym("mapMatrix"), A_GIMME, A_NULL);	 
+	  class_addmethod(classPtr, (t_method)&pix_opencv_warpperspective::srcMatrixMessCallback,
+  		  gensym("srcMatrix"), A_GIMME, A_NULL);	 
+	  class_addmethod(classPtr, (t_method)&pix_opencv_warpperspective::dstMatrixMessCallback,
+  		  gensym("dstMatrix"), A_GIMME, A_NULL);
+}
+
+void pix_opencv_warpperspective :: mapMatrixMessCallback(void *data, t_symbol *s, int argc, t_atom *argv)
+{
+		GetMyClass(data)->mapMatrixMess(argc, argv);
+}
+
+void pix_opencv_warpperspective :: srcMatrixMessCallback(void *data, t_symbol *s, int argc, t_atom *argv)
+{
+		GetMyClass(data)->srcMatrixMess(argc, argv);
+}
+
+void pix_opencv_warpperspective :: dstMatrixMessCallback(void *data, t_symbol *s, int argc, t_atom *argv)
+{
+		GetMyClass(data)->dstMatrixMess(argc, argv);
+}
+
diff --git a/pix_opencv_warpperspective.h b/pix_opencv_warpperspective.h
new file mode 100644
index 0000000..27af960
--- /dev/null
+++ b/pix_opencv_warpperspective.h
@@ -0,0 +1,95 @@
+/*-----------------------------------------------------------------
+LOG
+    GEM - Graphics Environment for Multimedia
+
+    Contours Bounding Rectangle detection
+
+    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.
+
+-----------------------------------------------------------------*/
+// pix_opencv_warpperspective integration by Antoine Villeret - 2011
+
+#ifndef INCLUDE_PIX_OPENCV_WARPPERSPECTIVE_H_
+#define INCLUDE_PIX_OPENCV_WARPPERSPECTIVE_H_
+
+#ifndef _EiC
+#include "cv.h"
+#endif
+
+#include "Base/GemPixObj.h"
+
+#define MAX_MARKERS 500
+
+/*-----------------------------------------------------------------
+-------------------------------------------------------------------
+CLASS
+    pix_opencv_warpperspective
+   
+KEYWORDS
+    pix
+    
+DESCRIPTION
+   
+-----------------------------------------------------------------*/
+class GEM_EXTERN pix_opencv_warpperspective : public GemPixObj
+{
+    CPPEXTERN_HEADER(pix_opencv_warpperspective, GemPixObj)
+
+    public:
+
+	    //////////
+	    // Constructor
+    	pix_opencv_warpperspective();
+    	
+    protected:
+    	
+    	//////////
+    	// Destructor
+    	virtual ~pix_opencv_warpperspective();
+
+		//////////
+		// Do the processing
+		virtual void 	processRGBAImage(imageStruct &image);
+		virtual void 	processRGBImage(imageStruct &image);
+		virtual void 	processYUVImage(imageStruct &image);
+		virtual void 	processGrayImage(imageStruct &image);
+		
+		/////////
+		// Setup
+		void 	mapMatrixMess (int argc, t_atom *argv);
+		void	srcMatrixMess (int argc, t_atom *argv);
+		void	dstMatrixMess (int argc, t_atom *argv);
+		void	findhomography();
+
+		// to detect changes in the image size
+		int 	comp_xsize;
+		int		comp_ysize;
+
+        CvMat *mapMatrix; // 3x3 transformation matrix
+		CvMat *srcMatrix, *dstMatrix; // nX2 points coordinates matrices, n>4
+		t_atom *mapMatrixList; // array to send out transformation Matrix
+        int flags;
+        int findmethod;
+
+
+    private:
+    
+		t_outlet 	*m_dataout;
+    	//////////
+    	// Static member functions
+		static void  mapMatrixMessCallback(void *data, t_symbol *s, int argc, t_atom *argv);
+		static void  srcMatrixMessCallback(void *data, t_symbol *s, int argc, t_atom *argv);
+		static void  dstMatrixMessCallback(void *data, t_symbol *s, int argc, t_atom *argv);
+
+		/////////
+		// IplImage needed
+    	IplImage 	*rgb, *tmp, *gray;
+	
+};
+
+#endif	// for header file