--- a/c/feature-based-tracking.cpp	Tue Aug 16 00:46:22 2011 -0400
+++ b/c/feature-based-tracking.cpp	Tue Aug 16 12:31:22 2011 -0400
@@ -1,6 +1,9 @@
-#include "Feature.hpp"
+//#include "Feature.hpp"
+#include "Parameters.hpp"
 #include "utils.hpp"
 
+#include "src/Trajectory.h"
+
 #include "opencv2/highgui/highgui.hpp"
 //#include "opencv2/imgproc/imgproc.hpp"
 #include "opencv2/features2d/features2d.hpp"
@@ -30,12 +33,18 @@
 }
 
 int main(int argc, char *argv[]) {
-
+  vector<TrajectoryPoint2f> features;
   BriefDescriptorExtractor brief(32);
   
   VideoCapture capture;
 
   Mat frame, display;
+  KLTFeatureTrackingParameters params;
+  params.frame1 = 0;
+  params.nFrames = -1;
+  // TODO ajouter klt paremeters, reprendre code de 
+  // GoodFeaturesToTrackDetector feature_detector(Params.max_nfeatures, Params.feature_quality, Params.min_feature_distance_klt, Params.window_size, Params.useHarrisDetector_GoodFeaturesToTrackDetector, Params.k_GoodFeaturesToTrackDetector);
+  // search descriptor_match.h
 
   if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0]))) // if no parameter or number parameter
     capture.open(argc == 2 ? argv[1][0] - '0' : 0);
@@ -49,11 +58,10 @@
 	  ", nframes=" << capture.get(CV_CAP_PROP_FRAME_COUNT) << endl;
       if( argc > 2 && isdigit(argv[2][0]) ) // could be used to reach first frame, dumping library messages to log file (2> /tmp/log.txt)
         {
-      	  int pos;
-      	  sscanf(argv[2], "%d", &pos);
-      	  cout << "seeking to frame #" << pos << endl;
+	  sscanf(argv[2], "%d", &params.frame1);
+      	  cout << "seeking to frame #" << params.frame1 << endl;
       	  //cap.set(CV_CAP_PROP_POS_FRAMES, pos);
-	  for (int i=0; i<pos; i++)
+	  for (int i=0; i<params.frame1; i++)
 	    capture >> frame;
         }
     }
@@ -70,19 +78,18 @@
   
   BruteForceMatcher<Hamming> desc_matcher;
   
-  vector<Point2f> train_pts, query_pts;
-  vector<KeyPoint> train_kpts, query_kpts;
+  vector<KeyPoint> prevKpts, currKpts;
   vector<unsigned char> match_mask;
   
   Mat gray;
   
-  Mat train_desc, query_desc;
+  Mat prevDesc, currDesc;
   const int DESIRED_FTRS = 500;
   GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
+
+  // TODO structure de donnee paires pointeur trajectory, numero de keypoint
   
-  int frameNum = 0;
-  for (;;)
-    {
+  for (int frameNum = 0; (params.frame1+frameNum < params.nFrames) || (params.nFrames < 0); frameNum++) {
       frameNum++;
       //capture.set(CV_CAP_PROP_POS_FRAMES, frameNum);
       //capture.grab();capture.grab();capture.retrieve(frame);
@@ -93,31 +100,28 @@
       
       cvtColor(frame, gray, CV_RGB2GRAY);
       
-      detector.detect(gray, query_kpts); //Find interest points
-      cout << query_kpts.size() << " kpts" << endl;
+      detector.detect(gray, currKpts);
+      //cout << currKpts.size() << " kpts" << endl;
       
-      brief.compute(gray, query_kpts, query_desc); //Compute brief descriptors at each keypoint location
+      brief.compute(gray, currKpts, currDesc); //Compute brief descriptors at each keypoint location
       
-      // find how keypoints descriptions are matched to previous ones (in train kpts probably)
       //display = frame.clone();
-      if (!train_kpts.empty())
+      if (!prevKpts.empty())
         {
-	  desc_matcher.match(query_desc, train_desc, matches);
+	  desc_matcher.match(currDesc, prevDesc, matches);
 	  cout << "matches:" << matches.size() << endl;
-	  drawMatchesRelative(train_kpts, query_kpts, matches, frame);
-	  //drawMatches(frame, train_kpts, frame, query_kpts, matches, display);//, Scalar::all(-1), Scalar::all(-1), vector<vector<char> >(), DrawMatchesFlags::DRAW_OVER_OUTIMG);
+	  drawMatchesRelative(prevKpts, currKpts, matches, frame);
+	  //drawMatches(frame, prevKpts, frame, currKpts, matches, display);//, Scalar::all(-1), Scalar::all(-1), vector<vector<char> >(), DrawMatchesFlags::DRAW_OVER_OUTIMG);
 	}
 
       imshow("frame", frame);
-      train_kpts = query_kpts;
-      query_desc.copyTo(train_desc);
-      int key = waitKey(5);
+      prevKpts = currKpts;
+      currDesc.copyTo(prevDesc);
+      int key = waitKey(0);
       if (::interruptionKey(key))
 	break;
     }  
   
-  Feature f;
-
   return 0;
 }