lots of changes !

1. switch to a new build system based on automake (because we need to check for some lib on ./configure before make)
2. sort files in different directory
3. add some new features (some of them need OpenCV >= 2.4.5)


svn path=/trunk/externals/pix_opencv/; revision=17324

1 files changed, 0 insertions, 547 deletions

diff --git a/pix_opencv_calibration.cc b/pix_opencv_calibration.cc
deleted file mode 100644
index 053a6a5..0000000
--- a/pix_opencv_calibration.cc
+++ /dev/null
@@ -1,547 +0,0 @@
-////////////////////////////////////////////////////////
-//
-// 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.
-//
-/////////////////////////////////////////////////////////
-// based on code written by Lluis Gomez i Bigorda ( lluisgomez _at_ hangar _dot_ org )
-// camera calibration function by Antoine Villeret helped by Cyrille Henry
-
-#include "pix_opencv_calibration.h"
-#include <stdio.h>
-
-CPPEXTERN_NEW(pix_opencv_calibration)
-
-/////////////////////////////////////////////////////////
-//
-// pix_opencv_calibration
-//
-/////////////////////////////////////////////////////////
-// Constructor
-//
-/////////////////////////////////////////////////////////
-pix_opencv_calibration :: pix_opencv_calibration()
-{ 
-	m_dataout = outlet_new(this->x_obj, 0);
-
-	find_rgb = NULL;
-	find_gray = NULL;
-	rgb = NULL;
-	gray = NULL;
-	tmp = NULL;
-	mapx = NULL;
-	mapy = NULL;
-	
-	success_count = 0;
-	board_view_nb = 10;
-	calibration = 0; 
-	patternSize[0] = 6;
-	patternSize[1] = 7;
-	frame = 0;
-	wait_n_frame = 10;
-	findChessFlag = CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS;
-  
-	// allocate storage matrix
-	image_points			=	cvCreateMat(patternSize[0]*patternSize[1]*board_view_nb, 2, CV_32FC1);
-	object_points			=	cvCreateMat(patternSize[0]*patternSize[1]*board_view_nb, 3, CV_32FC1);
-	point_counts			=	cvCreateMat(board_view_nb, 1, CV_32SC1);
-	intrinsic_matrix 		= 	cvCreateMat(3, 3, CV_32FC1);
-	distortion_coeffs 		= 	cvCreateMat(5, 1, CV_32FC1); 
-	
-	pix_opencv_calibration :: resetCorrectionMatrix();
-	//~ post("pix_opencv_calibration build on %s at %s", __DATE__, __TIME__);
-}
-
-/////////////////////////////////////////////////////////
-// Destructor
-//
-/////////////////////////////////////////////////////////
-pix_opencv_calibration :: ~pix_opencv_calibration()
-{ 
-    //Destroy cv_images to clean memory
-	if ( find_rgb ) cvReleaseImage(&find_rgb);
-	if ( find_gray ) cvReleaseImage(&find_gray);
-	if ( gray ) cvReleaseImage(&gray);
-	if ( rgb )  cvReleaseImage(&rgb);
-	if ( tmp )  cvReleaseImage(&tmp);
-	if ( mapx )	cvReleaseImage(&mapx);
-	if ( mapy )	cvReleaseImage(&mapy);
-	cvReleaseMat(&intrinsic_matrix);
-	cvReleaseMat(&distortion_coeffs);
-	cvReleaseMat(&image_points);
-	cvReleaseMat(&object_points);
-	cvReleaseMat(&point_counts);
-}
-
-/////////////////////////////////////////////////////////
-// processImage
-//
-/////////////////////////////////////////////////////////
-void pix_opencv_calibration :: 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;
-		if ( calibration ) error ( "image size changed, calibration was cancelled");
-		calibration = 0;
-
-		if ( find_rgb ) cvReleaseImage(&find_rgb);
-		if ( find_gray ) cvReleaseImage(&find_gray);
-		if ( gray )  cvReleaseImage(&gray); // TODO : cette ligne crash qd on passe du gray a couleur apres ou pendant calibration
-		if ( rgb )   cvReleaseImage(&rgb);
-		if ( tmp )   cvReleaseImage(&tmp);
-		if ( mapx )  cvReleaseImage(&mapx);
-		if ( mapy )  cvReleaseImage(&mapy);
-
-		// used in findCorners
-		find_rgb = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 4);
-		find_gray = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 1);
-
-		//create the images with new size
-		rgb = cvCreateImageHeader(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 4);
-		tmp  = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 4);
-		mapx = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_32F, 1);
-		mapy = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_32F, 1);
-
-		// create new map
-		cvInitUndistortMap(this->intrinsic_matrix, this->distortion_coeffs, this->mapx, this->mapy);
-    }
-    
-    // no need to copy a lot of memory, just point to it...
-    rgb->imageData = (char*) image.data;
-
-	// this will loop until we got enought views (x->board_view_nb) with all corners visible
-	if ( success_count < board_view_nb && calibration != 0 ) {
-		findCorners( rgb );
-		image.data = (unsigned char*) rgb->imageData; 
-	 }
-	else if ( success_count >= board_view_nb && calibration != 0 ) {
-		computeCalibration( rgb );
-		image.data = (unsigned char*) rgb->imageData;
-	 }
-	else if ( this->calibration == 0 ) { 
-		cvRemap(rgb,tmp,mapx,mapy);
-		image.data = (unsigned char*) tmp->imageData;
-	}
-}
-
-void pix_opencv_calibration :: processRGBImage(imageStruct &image) {
-	error( "pix_opencv_calibration : rgb format not supported");
-}
-
-void pix_opencv_calibration :: processYUVImage(imageStruct &image) {
-	error( "pix_opencv_calibration : yuv format not supported" );
-}
-    	
-void pix_opencv_calibration :: 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;
-		if ( calibration ) { 
-			error ( "image size changed, calibration was cancelled");
-			calibration = 0;
-			
-			t_atom data_out;
-			SETFLOAT(&data_out, calibration);
-			outlet_anything( this->m_dataout, gensym("calibration"), 1, &data_out);
-		}
-
-		if ( find_rgb ) cvReleaseImage(&find_rgb);
-		if ( find_gray ) cvReleaseImage(&find_gray);
-		if ( gray )  cvReleaseImage(&gray);
-		if ( rgb )   cvReleaseImage(&rgb);
-		if ( tmp )   cvReleaseImage(&tmp);
-		if ( mapx )  cvReleaseImage(&mapx);
-		if ( mapy )  cvReleaseImage(&mapy);
-		
-		// used in findCorners
-		find_rgb = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 4);
-		find_gray = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 1);
-		
-		//create the images with new size
-		gray = cvCreateImageHeader(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 1);
-		tmp = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 1);
-		mapx = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_32F, 1);
-		mapy = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_32F, 1);
-
-		// create new map
-		cvInitUndistortMap(this->intrinsic_matrix, this->distortion_coeffs, this->mapx, this->mapy);
-    }
-    
-    // no need to copy a lot of memory, just point to it...
-    gray->imageData = (char*) image.data;
-    
-	// this will loop until we got enought views (x->board_view_nb) with all corners visible
-	if ( success_count < board_view_nb && calibration != 0 ) {
-		findCorners( gray );
-		image.data = (unsigned char*) gray->imageData;
-	 }
-	else if ( success_count >= board_view_nb && calibration != 0 ) {
-		computeCalibration( gray );
-		image.data = (unsigned char*) gray->imageData;
-	 }
-	else if ( this->calibration == 0 ) { 
-		cvRemap(gray,tmp,mapx,mapy);
-		image.data = (unsigned char*) tmp->imageData;
-	}
-}
-
-/////////////////////////////////////////////////////////
-// findCorners
-//
-/////////////////////////////////////////////////////////
-void pix_opencv_calibration :: findCorners ( IplImage *image )
-{
-	int					board_point_nb = this->patternSize[0]*this->patternSize[1];
-	CvPoint2D32f		*corners = new CvPoint2D32f[board_point_nb];
-	int					corner_count;
-	int					step;
-	CvSize				patternSize, image_size;
-	
-	patternSize = cvSize( this->patternSize[0], this->patternSize[1] );
-	image_size = cvSize( image->width, image->height );
-
-	// find chessboard corners (gray or RGBA image...)
-	int found = cvFindChessboardCorners(image, 
-										patternSize, 
-										corners, 
-										&corner_count, 
-										findChessFlag);
-	if (image->nChannels == 4) {
-		cvCopy(image, find_rgb) ;
-		cvCvtColor( image , find_gray , CV_RGBA2GRAY); // convert color to gray
-	} else {
-		cvCopy(image, find_gray) ;
-	}
-	
-	// get subpixel accuracy on those corners (grayscale image only)
-	cvFindCornerSubPix(find_gray, 
-					   corners, 
-					   corner_count, 
-					   cvSize(11,11), 
-					   cvSize(-1,-1), 
-					   cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1));
-
-
-	// draw chessboard corner (color image only)
-	if (image->nChannels == 4) cvDrawChessboardCorners(find_rgb, patternSize, corners, corner_count, found);
-	else 
-	{
-		cvCvtColor( find_gray , find_rgb , CV_GRAY2RGBA); // convert gray to color
-		cvDrawChessboardCorners(find_rgb, patternSize, corners, corner_count, found);
-	}
-	
-	this->frame++;
-	if ( this->frame % this->wait_n_frame == 0 ) { 
-	// update arrays
-
-		if( corner_count == board_point_nb ) {
-			step = this->success_count*board_point_nb;
-			for( int i=step, j=0; j<board_point_nb; ++i,++j ) {
-				CV_MAT_ELEM(*this->image_points, float,i,0) = corners[j].x; 
-				CV_MAT_ELEM(*this->image_points, float,i,1) = corners[j].y; 
-				CV_MAT_ELEM(*this->object_points,float,i,0) = j/this->patternSize[0]; 
-				CV_MAT_ELEM(*this->object_points,float,i,1) = j%this->patternSize[0]; 
-				CV_MAT_ELEM(*this->object_points,float,i,2) = 0.0f;
-			}
-			CV_MAT_ELEM(*this->point_counts, int,this->success_count,0) = board_point_nb; 
-			this->success_count++;
-
-			cvNot( find_rgb , find_rgb );
-		}
-		
-		t_atom data_out;
-		SETFLOAT(&data_out, success_count);
-		outlet_anything( this->m_dataout, gensym("take"), 1, &data_out);
-
-	}
-
-	// convert color to gray
-	if (image->nChannels == 1) {
-		cvCvtColor( find_rgb , image, CV_RGBA2GRAY); // convert color to gray
-	} else {
-		cvCopy(find_rgb, image);
-	}	
-
-}
-/////////////////////////////////////////////////////////
-// computeCalibration
-//
-/////////////////////////////////////////////////////////
-void pix_opencv_calibration :: computeCalibration ( IplImage *image )
-{	
-	//CALIBRATE THE CAMERA! 
-	cvCalibrateCamera2(this->object_points,
-					   this->image_points,
-					   this->point_counts,
-					   cvSize( image->width , image->height ),
-					   this->intrinsic_matrix,
-					   this->distortion_coeffs,
-					   NULL, 
-					   NULL,
-					   0);
-	cvReleaseImage(&mapx);
-	cvReleaseImage(&mapy);
-	this->mapx = cvCreateImage( cvSize( image->width, image->height ), IPL_DEPTH_32F, 1 );
-	this->mapy = cvCreateImage( cvSize( image->width, image->height ), IPL_DEPTH_32F, 1 );
-
-	cvInitUndistortMap(this->intrinsic_matrix, this->distortion_coeffs, this->mapx, this->mapy);
-	
-	t_atom intra_out[9];
-	for ( int i = 0 ; i < 9 ; i++ ){
-		SETFLOAT(&intra_out[i], CV_MAT_ELEM( *intrinsic_matrix, float, i%3, i/3));
-	}		
-	outlet_anything( this->m_dataout, gensym("intrinsic_matrix"), 9, intra_out);
-	
-	t_atom dist_out[5];
-	for ( int i = 0 ; i < 5 ; i++ ){
-		SETFLOAT(&dist_out[i], CV_MAT_ELEM( *distortion_coeffs, float, i, 0));
-	}		
-	outlet_anything( this->m_dataout, gensym("distortion_coeffs"), 5, dist_out);
-	
-	calibration = 0;
-	
-	t_atom data_out;
-	SETFLOAT(&data_out, calibration);
-	outlet_anything( this->m_dataout, gensym("calibration"), 1, &data_out);
-}
-/////////////////////////////////////////////////////////
-// LoadMess
-//
-/////////////////////////////////////////////////////////
-
-void pix_opencv_calibration :: loadIntraMess (t_symbol *filename)
-{
-	if ( filename->s_name[0] == 0 ) {
-		error("no filename passed to loadIntra message");
-		return;
-	}
-	if ( filename == NULL ) { error("%s is not a valid matrix", filename->s_name); return;}
-	this->intrinsic_matrix = (CvMat*)cvLoad(filename->s_name, 0, 0, 0);// TODO crash when passing non-XML file
-  
-	if (intrinsic_matrix == NULL) {
-		intrinsic_matrix = 	cvCreateMat(3, 3, CV_32FC1);
-		error("can't open file %s", filename->s_name);
-		resetCorrectionMatrix();
-	}
-	else if ( intrinsic_matrix->rows != 3 || intrinsic_matrix->cols != 3 || CV_MAT_TYPE(intrinsic_matrix->type) != CV_32FC1 ) {
-		error("%s is not a valid intrinsic matrix", filename->s_name);
-		cvReleaseMat(&intrinsic_matrix);
-		intrinsic_matrix = 	cvCreateMat(3, 3, CV_32FC1);
-		resetCorrectionMatrix();
-	}
-	else post("load transformation matrix from %s",filename->s_name);
-	
-	t_atom intra_out[9];
-	for ( int i = 0 ; i < 9 ; i++ ){
-		SETFLOAT(&intra_out[i], CV_MAT_ELEM( *intrinsic_matrix, float, i%3, i/3));
-	}		
-	outlet_anything( this->m_dataout, gensym("intrinsic_matrix"), 9, intra_out);
-
-	// reinitialise size to force reinitialisation of mapx and mapy on next frame
-	this->comp_xsize = 0;  
-}
-
-void pix_opencv_calibration :: loadDistMess (t_symbol *filename)
-{
-	if ( filename->s_name[0] == 0 ) {
-		error("no filename passed to loadDist message");
-		return;
-	}
-	if ( filename == NULL ) { error("NULL pointer passed to function loadDist"); return;}
-	distortion_coeffs = (CvMat*)cvLoad(filename->s_name); // TODO crash when passing non-XML file
-	
-	if (distortion_coeffs == NULL) { 
-		distortion_coeffs = 	cvCreateMat(5, 1, CV_32FC1);
-		error("can't open file %s", filename->s_name);
-		resetCorrectionMatrix();
-	}
-	else if( distortion_coeffs->rows != 5 || distortion_coeffs->cols != 1 || CV_MAT_TYPE(distortion_coeffs->type) != CV_32FC1 ) {
-		error("%s is not a valid distortions coeffs file", filename->s_name);
-		cvReleaseMat(&distortion_coeffs);
-		distortion_coeffs = 	cvCreateMat(3, 3, CV_32FC1);
-		resetCorrectionMatrix();
-	}
-	else post("load distortion coefficients from %s",filename->s_name);
-
-	t_atom dist_out[5];
-	for ( int i = 0 ; i < 5 ; i++ ){
-		SETFLOAT(&dist_out[i], CV_MAT_ELEM( *distortion_coeffs, float, i, 0));
-	}		
-	outlet_anything( this->m_dataout, gensym("distortion_coeffs"), 5, dist_out);
-	
-	// reinitialise size to force reinitialisation of mapx and mapy on next frame
-	this->comp_xsize = 0;  
-}
-
-void pix_opencv_calibration :: writeIntraMess (t_symbol *filename)
-{
-	cvSave(filename->s_name,intrinsic_matrix);
-}
-
-void pix_opencv_calibration :: writeDistMess (t_symbol *filename)
-{
-	cvSave(filename->s_name,distortion_coeffs);
-}
-
-void pix_opencv_calibration :: floatCalibrationhMess (float calib_flag) 
-{
-	this->calibration=calib_flag;
-	if ( this->calibration == 1 ) {
-		this->success_count = 0;
-		this->frame = 0;
-	}
-	t_atom data_out;
-	SETFLOAT(&data_out, calibration);
-	outlet_anything( this->m_dataout, gensym("calibration"), 1, &data_out);
-}
-
-void pix_opencv_calibration :: patternSizeMess (float xsize, float ysize)
-{
-	if (calibration) {error("you can't change pattern size during calibration"); return;}
-	if ( xsize < 3 || ysize < 3 ) {error("patternSize should be at least 3x3"); return;}
-	this->patternSize[0]=xsize;
-	this->patternSize[1]=ysize;
-	
-	// reallocate matrix
-	cvReleaseMat(&image_points);
-	cvReleaseMat(&object_points);
-	cvReleaseMat(&point_counts);
-	image_points	=	cvCreateMat(patternSize[0]*patternSize[1]*board_view_nb, 2, CV_32FC1);
-	object_points	=	cvCreateMat(patternSize[0]*patternSize[1]*board_view_nb, 3, CV_32FC1);
-	point_counts	=	cvCreateMat(board_view_nb, 1, CV_32SC1);	
-}
-
-void pix_opencv_calibration :: viewMess (int view)
-{     
-	if ( calibration == 1 ) {error("you can't change view number during calibration !"); return;}
-	board_view_nb=view<2?2:view;
-	if (view < 2) error("view should be greater or equal to 2");
-
-	// reallocate matrix
-	cvReleaseMat(&image_points);
-	cvReleaseMat(&object_points);
-	cvReleaseMat(&point_counts);
-	image_points	=	cvCreateMat(patternSize[0]*patternSize[1]*board_view_nb, 2, CV_32FC1);
-	object_points	=	cvCreateMat(patternSize[0]*patternSize[1]*board_view_nb, 3, CV_32FC1);
-	point_counts	=	cvCreateMat(board_view_nb, 1, CV_32SC1);
-
-}
-
-void pix_opencv_calibration :: waitMess (int wait)
-{
-	wait_n_frame=wait<1?1:wait;
-	if (wait < 1) error("wait should be greater or equal to 1, you can't calibrate more often than each frame !");
-}
-
-void pix_opencv_calibration :: findChessFlagMess(int adaptThres, int normalize, int filter)
-{
-	adaptThres=adaptThres<=0?0:adaptThres>=1?1:adaptThres;
-	normalize=normalize<=0?0:normalize>=1?1:normalize;
-	filter=filter<=0?0:filter>=1?1:filter;
-	findChessFlag = CV_CALIB_CB_ADAPTIVE_THRESH * adaptThres + CV_CALIB_CB_NORMALIZE_IMAGE * normalize + CV_CALIB_CB_FILTER_QUADS * filter;
-}
-/////////////////////////////////////////////////////////
-// static member function
-//
-/////////////////////////////////////////////////////////
-void pix_opencv_calibration :: obj_setupCallback(t_class *classPtr)
-{
-  class_addmethod(classPtr, (t_method)&pix_opencv_calibration::loadIntraMessCallback,
-  		  gensym("loadIntra"), A_SYMBOL, A_NULL);
-  class_addmethod(classPtr, (t_method)&pix_opencv_calibration::loadDistMessCallback,
-  		  gensym("loadDist"), A_SYMBOL, A_NULL);
-  class_addmethod(classPtr, (t_method)&pix_opencv_calibration::writeIntraMessCallback,
-  		  gensym("writeIntra"), A_SYMBOL, A_NULL);
-  class_addmethod(classPtr, (t_method)&pix_opencv_calibration::writeDistMessCallback,
-  		  gensym("writeDist"), A_SYMBOL, A_NULL);
-  class_addmethod(classPtr, (t_method)&pix_opencv_calibration::floatCalibrationMessCallback,
-  		  gensym("calibration"), A_FLOAT, A_NULL);
-  class_addmethod(classPtr, (t_method)&pix_opencv_calibration::patternSizeMessCallback,
-  		  gensym("patternSize"), A_FLOAT, A_FLOAT, A_NULL);	 
-  class_addmethod(classPtr, (t_method)&pix_opencv_calibration::viewMessCallback,
-  		  gensym("view"), A_FLOAT, A_NULL);  
-  class_addmethod(classPtr, (t_method)&pix_opencv_calibration::waitMessCallback,
-  		  gensym("wait"), A_FLOAT, A_NULL); 
-	class_addmethod(classPtr, (t_method)&pix_opencv_calibration::findChessFlagMessCallback,
-  		  gensym("findChessFlag"), A_FLOAT, A_FLOAT, A_FLOAT, A_NULL);    
-    class_addmethod(classPtr, (t_method)&pix_opencv_calibration::resetMessCallback,
-  		  gensym("reset"), A_NULL);    
-  		    		  	  
-}
-void pix_opencv_calibration :: loadIntraMessCallback(void *data, t_symbol* filename)
-{
-	    GetMyClass(data)->loadIntraMess(filename);
-}
-void pix_opencv_calibration :: loadDistMessCallback(void *data, t_symbol* filename)
-{
-	    GetMyClass(data)->loadDistMess(filename);
-}
-void pix_opencv_calibration :: writeIntraMessCallback(void *data, t_symbol* filename)
-{
-	    GetMyClass(data)->writeIntraMess(filename);
-}
-void pix_opencv_calibration :: writeDistMessCallback(void *data, t_symbol* filename)
-{
-	    GetMyClass(data)->writeDistMess(filename);
-}
-void pix_opencv_calibration :: floatCalibrationMessCallback(void *data, t_floatarg calib_flag)
-{
-		GetMyClass(data)->floatCalibrationhMess((float)calib_flag);
-}
-void pix_opencv_calibration :: patternSizeMessCallback(void *data, t_floatarg xsize, t_floatarg ysize)
-{
-		GetMyClass(data)->patternSizeMess((float)xsize, (float)ysize);
-}
-void pix_opencv_calibration :: viewMessCallback(void *data, t_floatarg view)
-{
-		GetMyClass(data)->viewMess((int)view);
-}
-void pix_opencv_calibration :: waitMessCallback(void *data, t_floatarg wait)
-{
-		GetMyClass(data)->waitMess((int)wait);
-}
-void pix_opencv_calibration :: findChessFlagMessCallback(void *data, t_floatarg adaptThres, t_floatarg normalize, t_floatarg filter)
-{
-		GetMyClass(data)->findChessFlagMess((int) adaptThres, (int) normalize, (int) filter);
-}
-
-void pix_opencv_calibration :: resetMessCallback(void *data)
-{
-		GetMyClass(data)->resetCorrectionMatrix();
-}
-
-void pix_opencv_calibration ::  resetCorrectionMatrix()
-{
-		// make an "empty" intrinsinc matrix
-	CV_MAT_ELEM( *intrinsic_matrix, float, 0, 0 ) = 8;
-	CV_MAT_ELEM( *intrinsic_matrix, float, 1, 0 ) = 0;
-	CV_MAT_ELEM( *intrinsic_matrix, float, 2, 0 ) = 0;
-	CV_MAT_ELEM( *intrinsic_matrix, float, 0, 1 ) = 0;
-	CV_MAT_ELEM( *intrinsic_matrix, float, 1, 1 ) = 8;
-	CV_MAT_ELEM( *intrinsic_matrix, float, 2, 1 ) = 0;
-	CV_MAT_ELEM( *intrinsic_matrix, float, 0, 2 ) = 3;
-	CV_MAT_ELEM( *intrinsic_matrix, float, 1, 2 ) = 3;
-	CV_MAT_ELEM( *intrinsic_matrix, float, 2, 2 ) = 1;
-
-	// zeros distortion coeffs
-	for ( int i = 0 ; i < 5 ; i++ ) {
-	CV_MAT_ELEM( *distortion_coeffs, float, i, 0) = 0.0;
-	}
-	
-	// reinitialise size to force reinitialisation of mapx and mapy on next frame
-	this->comp_xsize = 0;
-}