added pix_opencv_lk

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

1 files changed, 654 insertions, 0 deletions

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;
+}
+