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, 1170 deletions

diff --git a/pix_opencv_lk.cc b/pix_opencv_lk.cc
deleted file mode 100644
index 8a9fe2e..0000000
--- a/pix_opencv_lk.cc
+++ /dev/null
@@ -1,1170 +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.
-//
-/////////////////////////////////////////////////////////
-
-#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=320;
-  comp_ysize=240;
-
-  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 = 20;
-  markall = 0;
-  ftolerance = 5;
-  delaunay = -1;
-  threshold = -1;
-
-  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 );
-  orgb = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 3 );
-  rgb = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 3 );
-  gray = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
-  ogray = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
-  prev_gray = 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( &orgb );
-  cvReleaseImage( &rgb );
-  cvReleaseImage( &gray );
-  cvReleaseImage( &ogray );
-  cvReleaseImage( &prev_gray );
-  cvReleaseImage( &pyramid );
-  cvReleaseImage( &prev_pyramid );
-}
-
-/////////////////////////////////////////////////////////
-// processImage
-//
-/////////////////////////////////////////////////////////
-void pix_opencv_lk :: processRGBAImage(imageStruct &image)
-{
-  int i, k;
-  int im, oi;
-  int marked;
-  float dist, odist;
-
-  if ((this->comp_xsize!=image.xsize)&&(this->comp_ysize!=image.ysize)) 
-  {
-
-    this->comp_xsize=image.xsize;
-    this->comp_ysize=image.ysize;
-
-    cvReleaseImage( &rgba );
-    cvReleaseImage( &orgb );
-    cvReleaseImage( &rgb );
-    cvReleaseImage( &gray );
-    cvReleaseImage( &ogray );
-    cvReleaseImage( &prev_gray );
-    cvReleaseImage( &pyramid );
-    cvReleaseImage( &prev_pyramid );
-
-    rgba = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 4 );
-    orgb = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 3 );
-    rgb = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 3 );
-    gray = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
-    ogray = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
-    prev_gray = 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, rgb, CV_BGRA2RGB);
-  cvCvtColor(rgba, orgb, CV_BGRA2RGB);
-  cvCvtColor(rgba, gray, CV_BGRA2GRAY);
-
-  if( night_mode )
-      cvZero( rgb );
-
-  for ( im=0; im<MAX_MARKERS; im++ )
-  {
-       x_found[im]--;
-  }
-
-  if ( delaunay >= 0 )
-  {
-    // init data structures for the delaunay
-    x_fullrect.x = -comp_xsize/2;
-    x_fullrect.y = -comp_ysize/2;
-    x_fullrect.width = 2*comp_xsize;
-    x_fullrect.height = 2*comp_ysize;
-
-    x_storage = cvCreateMemStorage(0);
-    x_subdiv = cvCreateSubdiv2D( CV_SEQ_KIND_SUBDIV2D, sizeof(*x_subdiv),
-                               sizeof(CvSubdiv2DPoint),
-                               sizeof(CvQuadEdge2D),
-                               x_storage );
-     cvInitSubdivDelaunay2D( x_subdiv, x_fullrect );
-  }
-
-  if( need_to_init )
-  {
-     /* automatic initialization */
-     IplImage* eig = cvCreateImage( cvSize(gray->width,gray->height), 32, 1 );
-     IplImage* temp = cvCreateImage( cvSize(gray->width,gray->height), 32, 1 );
-
-     count = MAX_COUNT;
-     cvGoodFeaturesToTrack( gray, eig, temp, points[1], &count,
-                               quality, min_distance, 0, 3, 0, 0.04 );
-     // cvFindCornerSubPix( gray, 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_gray, gray, 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];
-         if ( delaunay == 0 ) // add all the points
-         {
-            cvSubdivDelaunay2DInsert( x_subdiv, points[1][i] );
-            cvCalcSubdivVoronoi2D( x_subdiv );
-         }
-         // only add points included in (color-threshold)<p<(color+treshold)
-         if ( ( delaunay > 0 ) && ( x_xmark[delaunay-1] != -1 ) )
-         {
-            int px = cvPointFrom32f(points[1][i]).x;
-            int py = cvPointFrom32f(points[1][i]).y;
-            int ppx, ppy;
-
-            // eight connected pixels
-            for ( ppx=px-1; ppx<=px+1; ppx++ )
-            {
-              for ( ppy=py-1; ppy<=py+1; ppy++ )
-              {
-                if ( ( ppx < 0 ) || ( ppx >= comp_xsize ) ) continue;
-                if ( ( ppy < 0 ) || ( ppy >= comp_ysize ) ) continue;
-
-                uchar red = ((uchar*)(orgb->imageData + orgb->widthStep*ppx))[ppy*3];
-                uchar green = ((uchar*)(orgb->imageData + orgb->widthStep*ppx))[ppy*3+1];
-                uchar blue = ((uchar*)(orgb->imageData + orgb->widthStep*ppx))[ppy*3+2];
-
-                uchar pred = ((uchar*)(orgb->imageData + orgb->widthStep*x_xmark[delaunay-1]))[x_ymark[delaunay-1]*3];
-                uchar pgreen = ((uchar*)(orgb->imageData + orgb->widthStep*x_xmark[delaunay-1]))[x_ymark[delaunay-1]*3+1];
-                uchar pblue = ((uchar*)(orgb->imageData + orgb->widthStep*x_xmark[delaunay-1]))[x_ymark[delaunay-1]*3+2];
-
-                int diff = abs(red-pred) + abs(green-pgreen) + abs(blue-pblue);
-
-                // post( "pix_opencv_lk : point (%d,%d,%d) : diff : %d threshold : %d", blue, green, red, diff, threshold );
-
-                if ( diff < threshold )
-                {
-                   cvSubdivDelaunay2DInsert( x_subdiv, points[1][i] );
-                   cvCalcSubdivVoronoi2D( x_subdiv );
-                }
-              }
-            }
-         }
-
-         cvCircle( rgb, cvPointFrom32f(points[1][i]), 3, CV_RGB(0,255,0), -1, 8,0);
-
-         marked=0;
-         oi=-1;
-         dist=(comp_xsize>comp_ysize)?comp_xsize:comp_ysize;
-
-         for ( im=0; im<MAX_MARKERS; im++ )
-         {
-
-           if ( x_xmark[im] == -1 ) continue; // i don't see the point
-
-           odist=sqrt( pow( points[1][i].x - x_xmark[im], 2 ) + pow( points[1][i].y - x_ymark[im], 2 ) );
-
-           // search for the closest point
-           if ( odist <= maxmove )
-           {
-               if ( odist < dist )
-               {
-                 dist = odist;
-                 marked=1;
-                 oi=im;
-               }
-           }
-         }
-
-         if ( oi != -1 )
-         {
-           char tindex[4];
-             sprintf( tindex, "%d", oi );
-             cvPutText( rgb, tindex, cvPointFrom32f(points[1][i]), &font, CV_RGB(255,255,255));
-             x_xmark[oi]=(int)points[1][i].x;
-             x_ymark[oi]=(int)points[1][i].y;
-             x_found[oi]=ftolerance;
-             SETFLOAT(&x_list[0], oi);
-             SETFLOAT(&x_list[1], x_xmark[oi]);
-             SETFLOAT(&x_list[2], x_ymark[oi]);
-             outlet_list( m_dataout, 0, 3, x_list );
-         }
-
-         if ( markall && !marked )
-         {
-           for ( im=0; im<MAX_MARKERS; im++)
-           {
-             if ( x_xmark[im] == -1 )
-             {
-               x_xmark[im]=points[1][i].x;
-               x_ymark[im]=points[1][i].y;
-               x_found[im]=ftolerance;
-               break;
-             }
-           }
-         }
-      }
-      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( gray, 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;
-  }
-
-  // draw the delaunay
-  if ( delaunay >= 0 )
-  {
-     CvSeqReader  reader;
-     int i, total = x_subdiv->edges->total;
-     int elem_size = x_subdiv->edges->elem_size;
-
-     cvStartReadSeq( (CvSeq*)(x_subdiv->edges), &reader, 0 );
-
-     for( i = 0; i < total; i++ )
-     {
-       CvQuadEdge2D* edge = (CvQuadEdge2D*)(reader.ptr);
-       CvSubdiv2DPoint* org_pt;
-       CvSubdiv2DPoint* dst_pt;
-       CvPoint2D32f org;
-       CvPoint2D32f dst;
-       CvPoint iorg, idst;
-
-         if( CV_IS_SET_ELEM( edge ))
-         {
-           org_pt = cvSubdiv2DEdgeOrg((CvSubdiv2DEdge)edge);
-           dst_pt = cvSubdiv2DEdgeDst((CvSubdiv2DEdge)edge);
-
-           if( org_pt && dst_pt )
-           {
-               org = org_pt->pt;
-               dst = dst_pt->pt;
-
-               iorg = cvPoint( cvRound( org.x ), cvRound( org.y ));
-               idst = cvPoint( cvRound( dst.x ), cvRound( dst.y ));
-
-               if ( ( org.x > 0 ) && ( org.x < comp_xsize ) &&
-                    ( dst.x > 0 ) && ( dst.x < comp_xsize ) &&
-                    ( org.y > 0 ) && ( org.y < comp_ysize ) &&
-                    ( dst.y > 0 ) && ( dst.y < comp_ysize ) )
-               cvLine( rgb, iorg, idst, CV_RGB(255,0,0), 1, CV_AA, 0 );
-           }
-         }
-
-         CV_NEXT_SEQ_ELEM( elem_size, reader );
-     }
-  }
-
-  CV_SWAP( prev_gray, gray, swap_temp );
-  CV_SWAP( prev_pyramid, pyramid, swap_temp );
-  CV_SWAP( points[0], points[1], swap_points );
-  need_to_init = 0;
-
-  cvCvtColor(rgb, rgba, CV_BGR2BGRA);
-  memcpy( image.data, rgba->imageData, image.xsize*image.ysize*4 );
-}
-
-void pix_opencv_lk :: processRGBImage(imageStruct &image)
-{ 
-  int i, k;
-  int im, oi;
-  int marked;
-  float dist, odist;
-
-  if ((this->comp_xsize!=image.xsize)&&(this->comp_ysize!=image.ysize)) 
-  {
-
-    this->comp_xsize=image.xsize;
-    this->comp_ysize=image.ysize;
-
-    cvReleaseImage( &rgba );
-    cvReleaseImage( &orgb );
-    cvReleaseImage( &rgb );
-    cvReleaseImage( &gray );
-    cvReleaseImage( &ogray );
-    cvReleaseImage( &prev_gray );
-    cvReleaseImage( &pyramid );
-    cvReleaseImage( &prev_pyramid );
-
-    rgba = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 4 );
-    orgb = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 3 );
-    rgb = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 3 );
-    gray = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
-    ogray = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
-    prev_gray = 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 );
-  memcpy( orgb->imageData, image.data, image.xsize*image.ysize*3 );
-  cvCvtColor(rgb, gray, CV_BGRA2GRAY);
-
-  if( night_mode )
-      cvZero( rgb );
-
-  for ( im=0; im<MAX_MARKERS; im++ )
-  {
-       x_found[im]--;
-  }
-
-  if ( delaunay >= 0 )
-  {
-    // init data structures for the delaunay
-    x_fullrect.x = -comp_xsize/2;
-    x_fullrect.y = -comp_ysize/2;
-    x_fullrect.width = 2*comp_xsize;
-    x_fullrect.height = 2*comp_ysize;
-
-    x_storage = cvCreateMemStorage(0);
-    x_subdiv = cvCreateSubdiv2D( CV_SEQ_KIND_SUBDIV2D, sizeof(*x_subdiv),
-                               sizeof(CvSubdiv2DPoint),
-                               sizeof(CvQuadEdge2D),
-                               x_storage );
-     cvInitSubdivDelaunay2D( x_subdiv, x_fullrect );
-  }
-
-  if( need_to_init )
-  {
-     /* automatic initialization */
-     IplImage* eig = cvCreateImage( cvSize(gray->width,gray->height), 32, 1 );
-     IplImage* temp = cvCreateImage( cvSize(gray->width,gray->height), 32, 1 );
-
-     count = MAX_COUNT;
-     cvGoodFeaturesToTrack( gray, eig, temp, points[1], &count,
-                               quality, min_distance, 0, 3, 0, 0.04 );
-     // cvFindCornerSubPix( gray, 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_gray, gray, 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];
-         if ( delaunay == 0 ) // add all the points
-         {
-            cvSubdivDelaunay2DInsert( x_subdiv, points[1][i] );
-            cvCalcSubdivVoronoi2D( x_subdiv );
-         }
-         // only add points included in (color-threshold)<p<(color+treshold)
-         if ( ( delaunay > 0 ) && ( x_xmark[delaunay-1] != -1 ) )
-         {
-            int px = cvPointFrom32f(points[1][i]).x;
-            int py = cvPointFrom32f(points[1][i]).y;
-            int ppx, ppy;
-
-            // eight connected pixels
-            for ( ppx=px-1; ppx<=px+1; ppx++ )
-            {
-              for ( ppy=py-1; ppy<=py+1; ppy++ )
-              {
-                if ( ( ppx < 0 ) || ( ppx >= comp_xsize ) ) continue;
-                if ( ( ppy < 0 ) || ( ppy >= comp_ysize ) ) continue;
-
-                uchar red = ((uchar*)(orgb->imageData + orgb->widthStep*ppx))[ppy*3];
-                uchar green = ((uchar*)(orgb->imageData + orgb->widthStep*ppx))[ppy*3+1];
-                uchar blue = ((uchar*)(orgb->imageData + orgb->widthStep*ppx))[ppy*3+2];
-
-                uchar pred = ((uchar*)(orgb->imageData + orgb->widthStep*x_xmark[delaunay-1]))[x_ymark[delaunay-1]*3];
-                uchar pgreen = ((uchar*)(orgb->imageData + orgb->widthStep*x_xmark[delaunay-1]))[x_ymark[delaunay-1]*3+1];
-                uchar pblue = ((uchar*)(orgb->imageData + orgb->widthStep*x_xmark[delaunay-1]))[x_ymark[delaunay-1]*3+2];
-
-                int diff = abs(red-pred) + abs(green-pgreen) + abs(blue-pblue);
-
-                // post( "pix_opencv_lk : point (%d,%d,%d) : diff : %d", blue, green, red, diff );
-
-                if ( diff < threshold )
-                {
-                   cvSubdivDelaunay2DInsert( x_subdiv, points[1][i] );
-                   cvCalcSubdivVoronoi2D( x_subdiv );
-                }
-              }
-            }
-         }
-
-         cvCircle( rgb, cvPointFrom32f(points[1][i]), 3, CV_RGB(0,255,0), -1, 8,0);
-
-         marked=0;
-         oi=-1;
-         dist=(comp_xsize>comp_ysize)?comp_xsize:comp_ysize;
-
-         for ( im=0; im<MAX_MARKERS; im++ )
-         {
-           if ( x_xmark[im] == -1 ) continue; // i don't see the point
-
-           odist=sqrt( pow( points[1][i].x - x_xmark[im], 2 ) + pow( points[1][i].y - x_ymark[im], 2 ) );
-
-           // search for this point
-           if ( odist <= maxmove )
-           {
-               if ( odist < dist )
-               {
-                 dist = odist;
-                 marked=1;
-                 oi=im;
-               }
-           }
-         }
-
-         if ( oi !=-1 )
-         { 
-           char tindex[4];
-              sprintf( tindex, "%d", oi );
-              cvPutText( rgb, tindex, cvPointFrom32f(points[1][i]), &font, CV_RGB(255,255,255));
-              x_xmark[oi]=points[1][i].x;
-              x_ymark[oi]=points[1][i].y;
-              x_found[oi]=ftolerance;
-              SETFLOAT(&x_list[0], oi);
-              SETFLOAT(&x_list[1], x_xmark[oi]);
-              SETFLOAT(&x_list[2], x_ymark[oi]);
-              outlet_list( m_dataout, 0, 3, x_list );
-         }
-
-         if ( markall && !marked )
-         {
-           for ( im=0; im<MAX_MARKERS; im++)
-           {
-             if ( x_xmark[im] == -1 )
-             {
-               x_xmark[im]=points[1][i].x;
-               x_ymark[im]=points[1][i].y;
-               x_found[im]=ftolerance;
-               break;
-             }
-           }
-         }
-      }
-      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( gray, 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;
-  }
-
-  // draw the delaunay
-  if ( delaunay >= 0 )
-  {
-     CvSeqReader  reader;
-     int i, total = x_subdiv->edges->total;
-     int elem_size = x_subdiv->edges->elem_size;
-
-     cvStartReadSeq( (CvSeq*)(x_subdiv->edges), &reader, 0 );
-
-     for( i = 0; i < total; i++ )
-     {
-       CvQuadEdge2D* edge = (CvQuadEdge2D*)(reader.ptr);
-       CvSubdiv2DPoint* org_pt;
-       CvSubdiv2DPoint* dst_pt;
-       CvPoint2D32f org;
-       CvPoint2D32f dst;
-       CvPoint iorg, idst;
-
-         if( CV_IS_SET_ELEM( edge ))
-         {
-           org_pt = cvSubdiv2DEdgeOrg((CvSubdiv2DEdge)edge);
-           dst_pt = cvSubdiv2DEdgeDst((CvSubdiv2DEdge)edge);
-
-           if( org_pt && dst_pt )
-           {
-               org = org_pt->pt;
-               dst = dst_pt->pt;
-
-               iorg = cvPoint( cvRound( org.x ), cvRound( org.y ));
-               idst = cvPoint( cvRound( dst.x ), cvRound( dst.y ));
-
-               if ( ( org.x > 0 ) && ( org.x < comp_xsize ) &&
-                    ( dst.x > 0 ) && ( dst.x < comp_xsize ) &&
-                    ( org.y > 0 ) && ( org.y < comp_ysize ) &&
-                    ( dst.y > 0 ) && ( dst.y < comp_ysize ) )
-               cvLine( rgb, iorg, idst, CV_RGB(255,0,0), 1, CV_AA, 0 );
-           }
-         }
-
-         CV_NEXT_SEQ_ELEM( elem_size, reader );
-     }
-  }
-
-  CV_SWAP( prev_gray, gray, 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)
-{
-  post( "pix_opencv_lk : yuv format not supported" );
-}
-    	
-void pix_opencv_lk :: processGrayImage(imageStruct &image)
-{ 
-  int i, k;
-  int im, oi;
-  int marked;
-  float dist, odist;
-
-  if ((this->comp_xsize!=image.xsize)&&(this->comp_ysize!=image.ysize)) 
-  {
-
-    this->comp_xsize=image.xsize;
-    this->comp_ysize=image.ysize;
-
-    cvReleaseImage( &rgba );
-    cvReleaseImage( &orgb );
-    cvReleaseImage( &rgb );
-    cvReleaseImage( &ogray );
-    cvReleaseImage( &gray );
-    cvReleaseImage( &prev_gray );
-    cvReleaseImage( &pyramid );
-    cvReleaseImage( &prev_pyramid );
-
-    rgba = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 4 );
-    orgb = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 3 );
-    rgb = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 3 );
-    gray = cvCreateImage( cvSize(comp_xsize, comp_ysize), 8, 1 );
-    prev_gray = 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( gray->imageData, image.data, image.xsize*image.ysize );
-  memcpy( ogray->imageData, image.data, image.xsize*image.ysize );
-
-  if( night_mode )
-      cvZero( gray );
-
-  for ( im=0; im<MAX_MARKERS; im++ )
-  {
-       x_found[im]--;
-  }
-
-  if ( delaunay >= 0 )
-  {
-    // init data structures for the delaunay
-    x_fullrect.x = -comp_xsize/2;
-    x_fullrect.y = -comp_ysize/2;
-    x_fullrect.width = 2*comp_xsize;
-    x_fullrect.height = 2*comp_ysize;
-
-    x_storage = cvCreateMemStorage(0);
-    x_subdiv = cvCreateSubdiv2D( CV_SEQ_KIND_SUBDIV2D, sizeof(*x_subdiv),
-                               sizeof(CvSubdiv2DPoint),
-                               sizeof(CvQuadEdge2D),
-                               x_storage );
-     cvInitSubdivDelaunay2D( x_subdiv, x_fullrect );
-  }
-
-  if( need_to_init )
-  {
-     /* automatic initialization */
-     IplImage* eig = cvCreateImage( cvSize(gray->width,gray->height), 32, 1 );
-     IplImage* temp = cvCreateImage( cvSize(gray->width,gray->height), 32, 1 );
-
-     count = MAX_COUNT;
-     cvGoodFeaturesToTrack( gray, eig, temp, points[1], &count,
-                               quality, min_distance, 0, 3, 0, 0.04 );
-     // cvFindCornerSubPix( gray, 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_gray, gray, 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];
-         if ( delaunay == 0 ) // add all the points
-         {
-            cvSubdivDelaunay2DInsert( x_subdiv, points[1][i] );
-            cvCalcSubdivVoronoi2D( x_subdiv );
-         }
-         // only add points included in (color-threshold)<p<(color+treshold)
-         if ( ( delaunay > 0 ) && ( x_xmark[delaunay-1] != -1 ) )
-         {
-            int px = cvPointFrom32f(points[1][i]).x;
-            int py = cvPointFrom32f(points[1][i]).y;
-            int ppx, ppy;
-
-            // eight connected pixels
-            for ( ppx=px-1; ppx<=px+1; ppx++ )
-            {
-              for ( ppy=py-1; ppy<=py+1; ppy++ )
-              {
-                if ( ( ppx < 0 ) || ( ppx >= comp_xsize ) ) continue;
-                if ( ( ppy < 0 ) || ( ppy >= comp_ysize ) ) continue;
-
-                uchar lum = ((uchar*)(ogray->imageData + ogray->widthStep*ppx))[ppy];
-                uchar plum = ((uchar*)(ogray->imageData + ogray->widthStep*x_xmark[delaunay-1]))[x_ymark[delaunay-1]];
-
-                int diff = abs(plum-lum);
-
-                // post( "pix_opencv_lk : point (%d,%d,%d) : diff : %d", blue, green, red, diff );
-
-                if ( diff < threshold )
-                {
-                   cvSubdivDelaunay2DInsert( x_subdiv, points[1][i] );
-                   cvCalcSubdivVoronoi2D( x_subdiv );
-                }
-              }
-            }
-         }
-
-         cvCircle( gray, cvPointFrom32f(points[1][i]), 3, CV_RGB(0,255,0), -1, 8,0);
-
-         marked=0;
-         oi=-1;
-         dist=(comp_xsize>comp_ysize)?comp_xsize:comp_ysize;
-
-         for ( im=0; im<MAX_MARKERS; im++ )
-         {
-           if ( x_xmark[im] == -1 ) continue; // i don't see the point
-
-            odist=sqrt( pow( points[1][i].x - x_xmark[im], 2 ) + pow( points[1][i].y - x_ymark[im], 2 ) );
-
-            // search for the closest point
-            if ( odist <= maxmove )
-            {
-               if ( odist < dist )
-               {
-                 dist = odist;
-                 marked=1;
-                 oi=im;
-               }
-            }
-          }
-
-          if ( oi !=-1 )
-          { 
-             char tindex[4];
-               sprintf( tindex, "%d", oi );
-               cvPutText( gray, tindex, cvPointFrom32f(points[1][i]), &font, CV_RGB(255,255,255));
-               x_xmark[oi]=points[1][i].x;
-               x_ymark[oi]=points[1][i].y;
-               x_found[oi]=ftolerance;
-               SETFLOAT(&x_list[0], oi);
-               SETFLOAT(&x_list[1], x_xmark[oi]);
-               SETFLOAT(&x_list[2], x_ymark[oi]);
-               outlet_list( m_dataout, 0, 3, x_list );
-         }
-
-         if ( markall && !marked )
-         {
-           for ( im=0; im<MAX_MARKERS; im++)
-           {
-             if ( x_xmark[im] == -1 )
-             {
-               x_xmark[im]=points[1][i].x;
-               x_ymark[im]=points[1][i].y;
-               x_found[im]=ftolerance;
-               break;
-             }
-           }
-         }
-      }
-      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( gray, 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;
-  }
-
-  // draw the delaunay
-  if ( delaunay >= 0 )
-  {
-     CvSeqReader  reader;
-     int i, total = x_subdiv->edges->total;
-     int elem_size = x_subdiv->edges->elem_size;
-
-     cvStartReadSeq( (CvSeq*)(x_subdiv->edges), &reader, 0 );
-
-     for( i = 0; i < total; i++ )
-     {
-       CvQuadEdge2D* edge = (CvQuadEdge2D*)(reader.ptr);
-       CvSubdiv2DPoint* org_pt;
-       CvSubdiv2DPoint* dst_pt;
-       CvPoint2D32f org;
-       CvPoint2D32f dst;
-       CvPoint iorg, idst;
-
-         if( CV_IS_SET_ELEM( edge ))
-         {
-           org_pt = cvSubdiv2DEdgeOrg((CvSubdiv2DEdge)edge);
-           dst_pt = cvSubdiv2DEdgeDst((CvSubdiv2DEdge)edge);
-
-           if( org_pt && dst_pt )
-           {
-               org = org_pt->pt;
-               dst = dst_pt->pt;
-
-               iorg = cvPoint( cvRound( org.x ), cvRound( org.y ));
-               idst = cvPoint( cvRound( dst.x ), cvRound( dst.y ));
-
-               if ( ( org.x > 0 ) && ( org.x < comp_xsize ) &&
-                    ( dst.x > 0 ) && ( dst.x < comp_xsize ) &&
-                    ( org.y > 0 ) && ( org.y < comp_ysize ) &&
-                    ( dst.y > 0 ) && ( dst.y < comp_ysize ) )
-               cvLine( gray, iorg, idst, CV_RGB(255,0,0), 1, CV_AA, 0 );
-           }
-         }
-
-         CV_NEXT_SEQ_ELEM( elem_size, reader );
-     }
-  }
-
-  CV_SWAP( prev_gray, gray, swap_temp );
-  CV_SWAP( prev_pyramid, pyramid, swap_temp );
-  CV_SWAP( points[0], points[1], swap_points );
-  need_to_init = 0;
-
-  memcpy( image.data, gray->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_GIMME, 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);
-  class_addmethod(classPtr, (t_method)&pix_opencv_lk::ftoleranceMessCallback,
-		  gensym("ftolerance"), A_FLOAT, A_NULL);
-  class_addmethod(classPtr, (t_method)&pix_opencv_lk::delaunayMessCallback,
-		  gensym("delaunay"), A_SYMBOL, A_NULL);
-  class_addmethod(classPtr, (t_method)&pix_opencv_lk::pdelaunayMessCallback,
-		  gensym("pdelaunay"), A_FLOAT, 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_symbol *s, int argc, t_atom *argv)
-{
-    GetMyClass(data)->markMess(argc, argv);
-}
-
-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 :: ftoleranceMessCallback(void *data, t_floatarg ftolerance)
-{
-    GetMyClass(data)->ftoleranceMess((float)ftolerance);
-}
-
-void  pix_opencv_lk :: delaunayMessCallback(void *data, t_symbol *s)
-{
-    GetMyClass(data)->delaunayMess(s);
-}
-
-void  pix_opencv_lk :: pdelaunayMessCallback(void *data, t_floatarg fpoint, t_floatarg fthreshold)
-{
-    GetMyClass(data)->pdelaunayMess((float)fpoint, (float)fthreshold);
-}
-
-void  pix_opencv_lk :: winSizeMess(float fwinsize)
-{
-    if (fwinsize>1.0) win_size = (int)fwinsize;
-}
-
-void  pix_opencv_lk :: nightModeMess(float fnightmode)
-{
-    if ((fnightmode==0.0)||(fnightmode==1.0)) night_mode = (int)fnightmode;
-}
-
-void  pix_opencv_lk :: qualityMess(float fquality)
-{
-    if (fquality>0.0) quality = fquality;
-}
-
-void  pix_opencv_lk :: initMess(void)
-{
-    need_to_init = 1;
-}
-
-void  pix_opencv_lk :: markMess(int argc, t_atom *argv)
-{
-  int i;
-  int inserted;
-
-    if ( argc == 1 ) // mark all or none
-    {
-      if ( argv[0].a_type != A_SYMBOL )
-      {
-        error( "pix_opencv_lk : wrong argument (should be 'all')" );
-        return;
-      }
-      if ( !strcmp( argv[0].a_w.w_symbol->s_name, "all" ) )
-      {
-        markall = 1;
-        return;
-      }
-      if ( !strcmp( argv[0].a_w.w_symbol->s_name, "none" ) )
-      {
-        markall = 0;
-        clearMess();
-        return;
-      }
-    }
-    else
-    {
-      if ( ( argv[0].a_type != A_FLOAT ) || ( argv[1].a_type != A_FLOAT ) )
-      {
-        error( "pix_opencv_lk : wrong argument (should be mark px py)" );
-        return;
-      }
-      else
-      {
-        float fpx = argv[0].a_w.w_float;
-        float fpy = argv[1].a_w.w_float;
-        int px, py;
-
-        if ( ( fpx < 0.0 ) || ( fpx > comp_xsize ) || ( fpy < 0.0 ) || ( fpy > comp_ysize ) )
-        {
-           return;
-        }
-
-        px = (int)fpx;
-        py = (int)fpy;
-        inserted = 0;
-        for ( i=0; i<MAX_MARKERS; i++)
-        {
-           if ( x_xmark[i] == -1 )
-           {
-              x_xmark[i] = px;
-              x_ymark[i] = py;
-              x_found[i] = ftolerance;
-              inserted = 1;
-              // post( "pix_opencv_lk : inserted point (%d,%d)", px, py );
-              break;
-           }
-        }
-        if ( !inserted )
-        {
-           post( "pix_opencv_lk : max markers reached" );
-        }
-      }
-   }
-}
-
-void  pix_opencv_lk :: deleteMess(float index)
-{
-  int i;
-
-    if ( ( index < 0.0 ) || ( index >= MAX_MARKERS ) )
-    {
-       return;
-    }
-
-    x_xmark[(int)index] = -1;
-    x_ymark[(int)index] = -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 fmindistance)
-{
-    if (fmindistance>1.0) min_distance = (int)fmindistance;
-}
-
-void  pix_opencv_lk :: maxMoveMess(float fmaxmove)
-{
-  // has to be more than the size of a point
-  if (fmaxmove>=3.0) maxmove = (int)fmaxmove;
-}
-
-void  pix_opencv_lk :: ftoleranceMess(float ftolerance)
-{
-  if (ftolerance>=0.0) ftolerance = (int)ftolerance;
-}
-
-void  pix_opencv_lk :: delaunayMess(t_symbol *s)
-{
-  if (s == gensym("on"))
-     delaunay = 0;
-  if (s == gensym("off"))
-     delaunay = -1;
-}
-
-void  pix_opencv_lk :: pdelaunayMess(float fpoint, float fthreshold)
-{
-  if (((int)fpoint>0) && ((int)fpoint<MAX_MARKERS))
-  {
-     delaunay = (int)fpoint;
-     threshold = (int)fthreshold;
-     // post( "pix_opencv_lk : setting threshold to : %d", threshold );
-  }
-}
-