--- a/c/feature-based-tracking.cpp	Mon Aug 15 12:53:10 2011 -0400
+++ b/c/feature-based-tracking.cpp	Mon Aug 15 18:37:14 2011 -0400
@@ -1,4 +1,5 @@
-#include "../include/Feature.hpp"
+#include "Feature.hpp"
+#include "utils.hpp"
 
 #include "opencv2/highgui/highgui.hpp"
 //#include "opencv2/imgproc/imgproc.hpp"
@@ -20,16 +21,38 @@
   BriefDescriptorExtractor brief(32);
   
   VideoCapture capture;
-  capture.open(atoi(argv[1]));
+
+  Mat frame, display;
+
+  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);
+  else if( argc >= 2 )
+    {
+      capture.open(argv[1]);
+      if( capture.isOpened() )
+	cout << "Video " << argv[1] <<
+	  ": width=" << capture.get(CV_CAP_PROP_FRAME_WIDTH) <<
+	  ", height=" << capture.get(CV_CAP_PROP_FRAME_HEIGHT) <<
+	  ", 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;
+      	  //cap.set(CV_CAP_PROP_POS_FRAMES, pos);
+	  for (int i=0; i<pos; i++)
+	    capture >> frame;
+        }
+    }
+
+    //  capture.open(atoi(argv[1]));
   if (!capture.isOpened())
     {
       //help(argv);
-      cout << "capture device " << atoi(argv[1]) << " failed to open!" << endl;
+      cout << "capture device " << argv[1] << " failed to open!" << endl;
       return 1;
     }
   
-  Mat frame;
-
   vector<DMatch> matches;
   
   BruteForceMatcher<Hamming> desc_matcher;
@@ -44,9 +67,12 @@
   const int DESIRED_FTRS = 500;
   GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
   
+  int frameNum = 0;
   for (;;)
     {
+      frameNum+=2;
       capture >> frame;
+      cout << capture.get(CV_CAP_PROP_POS_FRAMES) << endl;
       if (frame.empty())
 	break;
       
@@ -57,9 +83,21 @@
       brief.compute(gray, query_kpts, query_desc); //Compute brief descriptors at each keypoint location
       
       // find how keypoints descriptions are matched to previous ones (in train kpts probably)
-      
-      imshow("frame", frame);
-      char key = (char)waitKey(2);
+      display = frame.clone();
+      if (!train_kpts.empty())
+        {
+	  //vector<KeyPoint> test_kpts;
+	  //warpKeypoints(H_prev.inv(), query_kpts, test_kpts);
+	  //Mat mask = windowedMatchingMask(test_kpts, train_kpts, 25, 25);
+	  desc_matcher.match(query_desc, train_desc, matches);
+	  drawMatches(frame, train_kpts, frame, query_kpts, matches, display);//, Scalar::all(-1), Scalar::all(-1), vector<vector<char> >(), DrawMatchesFlags::DRAW_OVER_OUTIMG);
+	} // TODO do something like the match relative of the sample
+
+      imshow("frame", display);
+      train_kpts = query_kpts;
+      int key = waitKey(0);
+      if (::interruptionKey(key))
+	break;
     }  
   
   Feature f;