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, 1049 deletions

diff --git a/pix_opencv_surf.cc b/pix_opencv_surf.cc
deleted file mode 100644
index 6fc1e59..0000000
--- a/pix_opencv_surf.cc
+++ /dev/null
@@ -1,1049 +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_surf.h"
-#include <stdio.h>
-
-
-CPPEXTERN_NEW(pix_opencv_surf)
-
-/////////////////////////////////////////////////////////
-//
-// pix_opencv_surf
-//
-/////////////////////////////////////////////////////////
-// Constructor
-//
-/////////////////////////////////////////////////////////
-
-pix_opencv_surf :: pix_opencv_surf()
-{ 
-  int i;
-
-  comp_xsize=320;
-  comp_ysize=240;
-
-  m_dataout = outlet_new(this->x_obj, &s_anything);
-
-  night_mode = 0;
-  x_maxmove = 20;
-  x_delaunay = -1;
-  x_threshold = -1;
-
-  objectKeypoints = NULL;
-  objectDescriptors = NULL;
-  x_hessian = 1000;
-  x_ftolerance = 5;
-
-  x_markall = 0;
-  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 );
-
-}
-
-/////////////////////////////////////////////////////////
-// Destructor
-//
-/////////////////////////////////////////////////////////
-pix_opencv_surf :: ~pix_opencv_surf()
-{
-  // Destroy cv_images
-  cvReleaseImage( &rgba );
-  cvReleaseImage( &orgb );
-  cvReleaseImage( &rgb );
-  cvReleaseImage( &gray );
-  cvReleaseImage( &ogray );
-}
-
-/////////////////////////////////////////////////////////
-// processImage
-//
-/////////////////////////////////////////////////////////
-void pix_opencv_surf :: processRGBAImage(imageStruct &image)
-{
-  int i, k;
-  int im, oi;
-  int marked;
-  int descsize;
-  char tindex[4];
-  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 );
-
-    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 );
-
-  }
-
-  memcpy( rgba->imageData, image.data, image.xsize*image.ysize*4 );
-  cvCvtColor(rgba, orgb, CV_BGRA2BGR);
-  cvCvtColor(rgba, rgb, CV_BGRA2BGR);
-  cvCvtColor(rgba, gray, CV_BGRA2GRAY);
-
-  x_storage = cvCreateMemStorage(0);
-
-  if( night_mode )
-      cvZero( rgb );
-
-  for ( im=0; im<MAX_MARKERS; im++ )
-  {
-     x_found[im]--;
-  }
-
-  if ( x_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_subdiv = cvCreateSubdiv2D( CV_SEQ_KIND_SUBDIV2D, sizeof(*x_subdiv),
-                             sizeof(CvSubdiv2DPoint),
-                             sizeof(CvQuadEdge2D),
-                             x_storage );
-     cvInitSubdivDelaunay2D( x_subdiv, x_fullrect );
-  }
-
-  cvExtractSURF( gray, 0, &objectKeypoints, &objectDescriptors, x_storage, cvSURFParams(x_hessian, 1) );
-  descsize = (int)(objectDescriptors->elem_size/sizeof(float));
-
-  for( i = 0; i < objectKeypoints->total; i++ )
-  {
-    CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( objectKeypoints, i );
-    const float* rdesc = (const float*)cvGetSeqElem( objectDescriptors, i );
-
-     if ( x_delaunay == 0 ) // add all the points
-     {
-        cvSubdivDelaunay2DInsert( x_subdiv, r1->pt );
-        cvCalcSubdivVoronoi2D( x_subdiv );
-     }
-
-     // only add points included in (color-threshold)<p<(color+treshold)
-     if ( ( x_delaunay > 0 ) && ( x_xmark[x_delaunay-1] != -1 ) )
-     {
-       int px = cvPointFrom32f(r1->pt).x;
-       int py = cvPointFrom32f(r1->pt).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[x_delaunay-1]))[x_ymark[x_delaunay-1]*3];
-           uchar pgreen = ((uchar*)(orgb->imageData + orgb->widthStep*x_xmark[x_delaunay-1]))[x_ymark[x_delaunay-1]*3+1];
-           uchar pblue = ((uchar*)(orgb->imageData + orgb->widthStep*x_xmark[x_delaunay-1]))[x_ymark[x_delaunay-1]*3+2];
-
-           int diff = abs(red-pred) + abs(green-pgreen) + abs(blue-pblue);
-
-           // post( "pdp_opencv_surf : point (%d,%d,%d) : diff : %d", blue, green, red, diff );
-
-           if ( diff < x_threshold )
-           {
-              cvSubdivDelaunay2DInsert( x_subdiv, r1->pt );
-              cvCalcSubdivVoronoi2D( x_subdiv );
-           }
-         }
-       }
-     }
-
-     cvCircle( rgb, cvPointFrom32f(r1->pt), 3, CV_RGB(0,255,0), -1, 8,0);
-
-     // mark the point if it is not already
-     if ( x_markall )
-     {
-       int marked = 0;
-
-       for ( im=0; im<MAX_MARKERS; im++ )
-       {
-           if ( x_xmark[im] == -1 ) continue; // no points
-
-           odist=sqrt( pow( r1->pt.x-x_xmark[im], 2 ) + pow( r1->pt.y-x_ymark[im], 2 ) );
-
-           if ( odist <= x_maxmove )
-           {
-             marked = 1;
-             // post( "pdp_opencv_surf : point already marked" );
-             break;
-           }
-       }
-       if ( !marked )
-       {
-          for ( i=0; i<MAX_MARKERS; i++)
-          {
-             if ( x_xmark[i] == -1 )
-             {
-                x_xmark[i] = r1->pt.x;
-                x_ymark[i] = r1->pt.y;
-                x_found[i] = x_ftolerance;
-                memset( (float * )x_rdesc[i], 0x0, DSCSIZE*sizeof(float));
-                break;
-             }
-          }
-       }
-     }
-  }
-
-  for ( im=0; im<MAX_MARKERS; im++ )
-  {
-    int neighbour = -1;
-    double d, dist1 = 1000000, dist2 = 1000000;
-
-    if ( x_xmark[im] == -1 ) continue; // no points
-
-    oi=-1;
-    dist=(comp_xsize>comp_ysize)?comp_xsize:comp_ysize;
-
-    for( i = 0; i < objectKeypoints->total; i++ )
-    {
-      CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( objectKeypoints, i );
-      const float* rdesc = (const float*)cvGetSeqElem( objectDescriptors, i );
-      int descsize = (int)(objectDescriptors->elem_size/sizeof(float));
-
-       // manually marked points
-       // recognized on position
-       odist=sqrt( pow( r1->pt.x-x_xmark[im], 2 ) + pow( r1->pt.y-x_ymark[im], 2 ) );
-
-       if ( odist <= x_maxmove )
-       {
-           if ( odist < dist )
-           {
-             oi=im;
-             x_xmark[oi]=r1->pt.x;
-             x_ymark[oi]=r1->pt.y;
-             memcpy( (float * )x_rdesc[oi], rdesc, descsize*sizeof(float));
-             dist = odist;
-           }
-       }
-     }
-
-     if ( oi !=-1 )
-     {
-        sprintf( tindex, "%d", oi );
-        cvPutText( rgb, tindex, cvPoint(x_xmark[oi],x_ymark[oi]), &font, CV_RGB(255,255,255));
-        x_found[oi] = x_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 );
-     }
-  }
-
-  // draw the delaunay
-  if ( x_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 );
-     }
-  }
-
-  // suppress lost points
-  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( "pdp_opencv_surf : lost point %d", im+1 );
-      }
-  }
-
-  cvReleaseMemStorage( &x_storage );
-
-  cvCvtColor(rgb, rgba, CV_BGR2BGRA);
-  memcpy( image.data, rgba->imageData, image.xsize*image.ysize*4 );
-}
-
-void pix_opencv_surf :: processRGBImage(imageStruct &image)
-{ 
-  int i, k;
-  int im, oi;
-  int marked;
-  int descsize;
-  char tindex[4];
-  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 );
-
-    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 );
-
-  }
-
-  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);
-
-  x_storage = cvCreateMemStorage(0);
-
-  if( night_mode )
-      cvZero( rgb );
-
-  for ( im=0; im<MAX_MARKERS; im++ )
-  {
-     x_found[im]--;
-  }
-
-  if ( x_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_subdiv = cvCreateSubdiv2D( CV_SEQ_KIND_SUBDIV2D, sizeof(*x_subdiv),
-                             sizeof(CvSubdiv2DPoint),
-                             sizeof(CvQuadEdge2D),
-                             x_storage );
-     cvInitSubdivDelaunay2D( x_subdiv, x_fullrect );
-  }
-
-  cvExtractSURF( gray, 0, &objectKeypoints, &objectDescriptors, x_storage, cvSURFParams(x_hessian, 1) );
-  descsize = (int)(objectDescriptors->elem_size/sizeof(float));
-
-  for( i = 0; i < objectKeypoints->total; i++ )
-  {
-    CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( objectKeypoints, i );
-    const float* rdesc = (const float*)cvGetSeqElem( objectDescriptors, i );
-
-     if ( x_delaunay == 0 ) // add all the points
-     {
-        cvSubdivDelaunay2DInsert( x_subdiv, r1->pt );
-        cvCalcSubdivVoronoi2D( x_subdiv );
-     }
-
-     // only add points included in (color-threshold)<p<(color+treshold)
-     if ( ( x_delaunay > 0 ) && ( x_xmark[x_delaunay-1] != -1 ) )
-     {
-       int px = cvPointFrom32f(r1->pt).x;
-       int py = cvPointFrom32f(r1->pt).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[x_delaunay-1]))[x_ymark[x_delaunay-1]*3];
-           uchar pgreen = ((uchar*)(orgb->imageData + orgb->widthStep*x_xmark[x_delaunay-1]))[x_ymark[x_delaunay-1]*3+1];
-           uchar pblue = ((uchar*)(orgb->imageData + orgb->widthStep*x_xmark[x_delaunay-1]))[x_ymark[x_delaunay-1]*3+2];
-
-           int diff = abs(red-pred) + abs(green-pgreen) + abs(blue-pblue);
-
-           // post( "pdp_opencv_surf : point (%d,%d,%d) : diff : %d", blue, green, red, diff );
-
-           if ( diff < x_threshold )
-           {
-              cvSubdivDelaunay2DInsert( x_subdiv, r1->pt );
-              cvCalcSubdivVoronoi2D( x_subdiv );
-           }
-         }
-       }
-     }
-
-     cvCircle( rgb, cvPointFrom32f(r1->pt), 3, CV_RGB(0,255,0), -1, 8,0);
-
-     // mark the point if it is not already
-     if ( x_markall )
-     {
-       int marked = 0;
-
-       for ( im=0; im<MAX_MARKERS; im++ )
-       {
-         if ( x_xmark[im] == -1 ) continue; // no points
-
-         odist=sqrt( pow( r1->pt.x-x_xmark[im], 2 ) + pow( r1->pt.y-x_ymark[im], 2 ) );
-
-         if ( odist <= x_maxmove )
-         {
-             marked = 1;
-             // post( "pdp_opencv_surf : point already marked" );
-             break;
-         }
-       }
-       if ( !marked )
-       {
-          for ( i=0; i<MAX_MARKERS; i++)
-          {
-             if ( x_xmark[i] == -1 )
-             {
-                x_xmark[i] = r1->pt.x;
-                x_ymark[i] = r1->pt.y;
-                x_found[i] = x_ftolerance;
-                memset( (float * )x_rdesc[i], 0x0, DSCSIZE*sizeof(float));
-                break;
-             }
-          }
-       }
-     }
-  }
-
-  for ( im=0; im<MAX_MARKERS; im++ )
-  {
-    int neighbour = -1;
-    double d, dist1 = 1000000, dist2 = 1000000;
-
-    if ( x_xmark[im] == -1 ) continue; // no points
-
-    oi=-1;
-    dist=(comp_xsize>comp_ysize)?comp_xsize:comp_ysize;
-
-    for( i = 0; i < objectKeypoints->total; i++ )
-    {
-      CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( objectKeypoints, i );
-      const float* rdesc = (const float*)cvGetSeqElem( objectDescriptors, i );
-      int descsize = (int)(objectDescriptors->elem_size/sizeof(float));
-
-       // manually marked points
-       // recognized on position
-       odist=sqrt( pow( r1->pt.x-x_xmark[im], 2 ) + pow( r1->pt.y-x_ymark[im], 2 ) );
-
-       if ( odist <= x_maxmove )
-       {
-           if ( odist < dist )
-           {
-             oi=im;
-             x_xmark[oi]=r1->pt.x;
-             x_ymark[oi]=r1->pt.y;
-             memcpy( (float * )x_rdesc[oi], rdesc, descsize*sizeof(float));
-             dist = odist;
-           }
-       }
-     }
-
-     if ( oi !=-1 )
-     {
-        sprintf( tindex, "%d", oi );
-        cvPutText( rgb, tindex, cvPoint(x_xmark[oi],x_ymark[oi]), &font, CV_RGB(255,255,255));
-        x_found[oi] = x_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 );
-     }
-  }
-
-  // draw the delaunay
-  if ( x_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 );
-     }
-  }
-
-  // suppress lost points
-  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( "pdp_opencv_surf : lost point %d", im+1 );
-      }
-  }
-
-  cvReleaseMemStorage( &x_storage );
-  memcpy( image.data, rgb->imageData, image.xsize*image.ysize*3 );
-}
-
-void pix_opencv_surf :: processYUVImage(imageStruct &image)
-{
-  post( "pix_opencv_surf : yuv format not supported" );
-}
-    	
-void pix_opencv_surf :: processGrayImage(imageStruct &image)
-{ 
-  int i, k;
-  int im, oi;
-  int marked;
-  int descsize;
-  char tindex[4];
-  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 );
-
-    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 );
-
-  }
-
-  memcpy( gray->imageData, image.data, image.xsize*image.ysize );
-  memcpy( ogray->imageData, image.data, image.xsize*image.ysize );
-  x_storage = cvCreateMemStorage(0);
-
-  if( night_mode )
-      cvZero( gray );
-
-  for ( im=0; im<MAX_MARKERS; im++ )
-  {
-     x_found[im]--;
-  }
-
-  if ( x_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_subdiv = cvCreateSubdiv2D( CV_SEQ_KIND_SUBDIV2D, sizeof(*x_subdiv),
-                             sizeof(CvSubdiv2DPoint),
-                             sizeof(CvQuadEdge2D),
-                             x_storage );
-     cvInitSubdivDelaunay2D( x_subdiv, x_fullrect );
-  }
-
-  cvExtractSURF( ogray, 0, &objectKeypoints, &objectDescriptors, x_storage, cvSURFParams(x_hessian, 1) );
-  descsize = (int)(objectDescriptors->elem_size/sizeof(float));
-
-  for( i = 0; i < objectKeypoints->total; i++ )
-  {
-    CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( objectKeypoints, i );
-    const float* rdesc = (const float*)cvGetSeqElem( objectDescriptors, i );
-
-     if ( x_delaunay == 0 ) // add all the points
-     {
-        cvSubdivDelaunay2DInsert( x_subdiv, r1->pt );
-        cvCalcSubdivVoronoi2D( x_subdiv );
-     }
-
-     // only add points included in (color-threshold)<p<(color+treshold)
-     if ( ( x_delaunay > 0 ) && ( x_xmark[x_delaunay-1] != -1 ) )
-     {
-       int px = cvPointFrom32f(r1->pt).x;
-       int py = cvPointFrom32f(r1->pt).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[x_delaunay-1]))[x_ymark[x_delaunay-1]];
-
-           int diff = abs(lum-plum);
-
-           if ( diff < x_threshold )
-           {
-              cvSubdivDelaunay2DInsert( x_subdiv, r1->pt );
-              cvCalcSubdivVoronoi2D( x_subdiv );
-           }
-         }
-       }
-     }
-
-     cvCircle( gray, cvPointFrom32f(r1->pt), 3, CV_RGB(255,255,255), -1, 8,0);
-
-     // mark the point if it is not already
-     if ( x_markall )
-     {
-       int marked = 0;
-
-       for ( im=0; im<MAX_MARKERS; im++ )
-       {
-         if ( x_xmark[im] == -1 ) continue; // no points
-
-         odist=sqrt( pow( r1->pt.x-x_xmark[im], 2 ) + pow( r1->pt.y-x_ymark[im], 2 ) );
-
-         if ( odist <= x_maxmove )
-         {
-           marked = 1;
-           // post( "pdp_opencv_surf : point already marked" );
-           break;
-         }
-       }
-
-       if ( !marked )
-       {
-          for ( i=0; i<MAX_MARKERS; i++)
-          {
-             if ( x_xmark[i] == -1 )
-             {
-                x_xmark[i] = r1->pt.x;
-                x_ymark[i] = r1->pt.y;
-                x_found[i] = x_ftolerance;
-                memset( (float * )x_rdesc[i], 0x0, DSCSIZE*sizeof(float));
-                break;
-             }
-          }
-       }
-     }
-  }
-
-  for ( im=0; im<MAX_MARKERS; im++ )
-  {
-    int neighbour = -1;
-    double d, dist1 = 1000000, dist2 = 1000000;
-
-    if ( x_xmark[im] == -1 ) continue; // no points
-
-    oi=-1;
-    dist=(comp_xsize>comp_ysize)?comp_xsize:comp_ysize;
-
-    for( i = 0; i < objectKeypoints->total; i++ )
-    {
-      CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( objectKeypoints, i );
-      const float* rdesc = (const float*)cvGetSeqElem( objectDescriptors, i );
-      int descsize = (int)(objectDescriptors->elem_size/sizeof(float));
-
-       // manually marked points
-       // recognized on position
-       odist=sqrt( pow( r1->pt.x-x_xmark[im], 2 ) + pow( r1->pt.y-x_ymark[im], 2 ) );
-
-       if ( odist <= x_maxmove )
-       {
-           if ( odist < dist )
-           {
-             oi=im;
-             x_xmark[oi]=r1->pt.x;
-             x_ymark[oi]=r1->pt.y;
-             memcpy( (float * )x_rdesc[oi], rdesc, descsize*sizeof(float));
-             dist = odist;
-           }
-       }
-     }
-
-     if ( oi !=-1 )
-     {
-        sprintf( tindex, "%d", oi );
-        cvPutText( gray, tindex, cvPoint(x_xmark[oi],x_ymark[oi]), &font, CV_RGB(255,255,255));
-        x_found[oi] = x_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 );
-     }
-  }
-
-  // draw the delaunay
-  if ( x_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(255,255,255), 1, CV_AA, 0 );
-           }
-         }
-
-         CV_NEXT_SEQ_ELEM( elem_size, reader );
-     }
-  }
-
-  // suppress lost points
-  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( "pdp_opencv_surf : lost point %d", im+1 );
-      }
-  }
-
-  cvReleaseMemStorage( &x_storage );
-  memcpy( image.data, gray->imageData, image.xsize*image.ysize );
-}
-
-/////////////////////////////////////////////////////////
-// static member function
-//
-/////////////////////////////////////////////////////////
-
-void pix_opencv_surf :: obj_setupCallback(t_class *classPtr)
-{
-  class_addmethod(classPtr, (t_method)&pix_opencv_surf::nightModeMessCallback,
-		  gensym("nightmode"), A_FLOAT, A_NULL);
-  class_addmethod(classPtr, (t_method)&pix_opencv_surf::hessianMessCallback,
-		  gensym("hessian"), A_FLOAT, A_NULL);
-  class_addmethod(classPtr, (t_method)&pix_opencv_surf::markMessCallback,
-		  gensym("mark"), A_GIMME, A_NULL);
-  class_addmethod(classPtr, (t_method)&pix_opencv_surf::deleteMessCallback,
-		  gensym("delete"), A_FLOAT, A_NULL);
-  class_addmethod(classPtr, (t_method)&pix_opencv_surf::clearMessCallback,
-		  gensym("clear"), A_NULL);
-  class_addmethod(classPtr, (t_method)&pix_opencv_surf::maxMoveMessCallback,
-		  gensym("maxmove"), A_FLOAT, A_NULL);
-  class_addmethod(classPtr, (t_method)&pix_opencv_surf::ftoleranceMessCallback,
-		  gensym("ftolerance"), A_FLOAT, A_NULL);
-  class_addmethod(classPtr, (t_method)&pix_opencv_surf::delaunayMessCallback,
-		  gensym("delaunay"), A_SYMBOL, A_NULL);
-  class_addmethod(classPtr, (t_method)&pix_opencv_surf::pdelaunayMessCallback,
-		  gensym("pdelaunay"), A_FLOAT, A_FLOAT, A_NULL);
-}
-
-void  pix_opencv_surf :: nightModeMessCallback(void *data, t_floatarg nightmode)
-{
-    GetMyClass(data)->nightModeMess((float)nightmode);
-}
-
-void  pix_opencv_surf :: hessianMessCallback(void *data, t_floatarg hessian)
-{
-    GetMyClass(data)->hessianMess((float)hessian);
-}
-
-void  pix_opencv_surf :: markMessCallback(void *data, t_symbol *s, int argc, t_atom *argv)
-{
-    GetMyClass(data)->markMess(argc, argv);
-}
-
-void  pix_opencv_surf :: deleteMessCallback(void *data, t_floatarg index)
-{
-    GetMyClass(data)->deleteMess((float)index);
-}
-
-void  pix_opencv_surf :: clearMessCallback(void *data)
-{
-    GetMyClass(data)->clearMess();
-}
-
-void  pix_opencv_surf :: maxMoveMessCallback(void *data, t_floatarg maxmove)
-{
-    GetMyClass(data)->maxMoveMess((float)maxmove);
-}
-
-void  pix_opencv_surf :: ftoleranceMessCallback(void *data, t_floatarg ftolerance)
-{
-    GetMyClass(data)->ftoleranceMess((float)ftolerance);
-}
-
-void  pix_opencv_surf :: delaunayMessCallback(void *data, t_symbol *s)
-{
-    GetMyClass(data)->delaunayMess(s);
-}
-
-void  pix_opencv_surf :: pdelaunayMessCallback(void *data, t_floatarg fpoint, t_floatarg fthreshold)
-{
-    GetMyClass(data)->pdelaunayMess((float)fpoint, (float)fthreshold);
-}
-
-void  pix_opencv_surf :: nightModeMess(float nightmode)
-{
-    if ((nightmode==0.0)||(nightmode==1.0)) night_mode = (int)nightmode;
-}
-
-void  pix_opencv_surf :: hessianMess(float hessian)
-{
-    if (hessian>0.0) x_hessian = (int)hessian;
-}
-
-void  pix_opencv_surf :: 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_surf : wrong argument (should be 'all')" );
-        return;
-      }
-      if ( !strcmp( argv[0].a_w.w_symbol->s_name, "all" ) )
-      {
-        x_markall = 1;
-        return;
-      }
-      if ( !strcmp( argv[0].a_w.w_symbol->s_name, "none" ) )
-      {
-        x_markall = 0;
-        clearMess();
-        return;
-      }
-    }
-    else
-    {
-      if ( ( argv[0].a_type != A_FLOAT ) || ( argv[1].a_type != A_FLOAT ) )
-      {
-        error( "pix_opencv_surf : 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] = x_ftolerance;
-              inserted = 1;
-              // post( "pix_opencv_surf : inserted point (%d,%d)", px, py );
-              break;
-           }
-        }
-        if ( !inserted )
-        {
-           post( "pix_opencv_surf : max markers reached" );
-        }
-      }
-   }
-}
-
-void  pix_opencv_surf :: 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_surf :: clearMess(void)
-{
-  int i;
-
-    for ( i=0; i<MAX_MARKERS; i++)
-    {
-      x_xmark[i] = -1;
-      x_ymark[i] = -1;
-    }
-
-}
-
-void  pix_opencv_surf :: maxMoveMess(float maxmove)
-{
-  // has to be more than the size of a point
-  if (maxmove>=3.0) maxmove = (int)maxmove;
-}
-
-void  pix_opencv_surf :: ftoleranceMess(float ftolerance)
-{
-  if (ftolerance>=0.0) ftolerance = (int)ftolerance;
-}
-
-void  pix_opencv_surf :: delaunayMess(t_symbol *s)
-{
-  if (s == gensym("on"))
-     x_delaunay = 0;
-  if (s == gensym("off"))
-     x_delaunay = -1;
-}
-
-void  pix_opencv_surf :: pdelaunayMess(float point, float threshold)
-{
-  if (((int)point>0) && ((int)point<MAX_MARKERS))
-  {
-     x_delaunay = (int)point;
-     x_threshold = (int)threshold;
-     // post( "pix_opencv_surf : setting threshold to : %d", x_threshold );
-  }
-}
-