--- a/c/Makefile	Wed Aug 24 19:43:44 2011 -0400
+++ b/c/Makefile	Fri Aug 26 19:38:11 2011 -0400
@@ -65,7 +65,7 @@
 test:
 	echo "coucou $(HOME)"
 
-feature-based-tracking: feature-based-tracking.o cvutils.o Motion.o Parameters.o
+feature-based-tracking: feature-based-tracking.o cvutils.o Motion.o Parameters.o utils.o
 	$(CXX) $(CFLAGS) $(LIBS) $^ -o $(BUILD_DIR)/$@ $(LDFLAGS)
 
 track-features.o: track-features.cpp

--- a/c/cvutils.cpp	Wed Aug 24 19:43:44 2011 -0400
+++ b/c/cvutils.cpp	Fri Aug 26 19:38:11 2011 -0400
@@ -1,4 +1,5 @@
 #include "cvutils.hpp"
+#include "utils.hpp"
 
 #include "opencv2/core/core.hpp"
 #include "opencv2/highgui/highgui.hpp"
@@ -10,6 +11,21 @@
 using namespace std;
 using namespace cv;
 
+cv::Mat loadMat(const string& filename, const string& separator) {
+  vector<vector<float> > numbers = ::loadNumbers(filename, separator);
+  
+  Mat mat;
+
+  if (!numbers.empty()) {
+    mat = Mat(numbers.size(),numbers[0].size(), CV_32FC1);
+    for (unsigned int i=0; i<numbers.size(); i++)
+      for (unsigned int j=0; j<numbers[0].size(); j++)
+	mat.at<float>(i,j) = numbers[i][j];
+  }
+
+  return mat;
+}
+
 void keyPoints2Points(const vector<KeyPoint>& kpts, vector<Point2f>& pts, const bool& clearPts /* = true */) {
   if (clearPts)
     pts.clear();

--- a/c/feature-based-tracking.cpp	Wed Aug 24 19:43:44 2011 -0400
+++ b/c/feature-based-tracking.cpp	Fri Aug 26 19:38:11 2011 -0400
@@ -70,6 +70,9 @@
   KLTFeatureTrackingParameters params(argc, argv);
   cout << params.parameterDescription << endl;
 
+  Mat m = ::loadMat(params.homographyFilename, " ");
+  //cout << m << endl;
+
   float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
   Size window = Size(params.windowSize, params.windowSize);
 
@@ -115,7 +118,7 @@
   //     cout << "capture device " << argv[1] << " failed to open!" << endl;
   //     return 1;
   //   }
-  
+
   // database
   boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
   //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();

--- a/c/utils.cpp	Wed Aug 24 19:43:44 2011 -0400
+++ b/c/utils.cpp	Fri Aug 26 19:38:11 2011 -0400
@@ -1,10 +1,50 @@
 #include "utils.hpp"
 
+#include <boost/foreach.hpp>
+
 #include <iostream>
 #include <fstream>
+#include <sstream>
 
 using namespace std;
 
+vector<vector<float> > loadNumbers(const string& filename, const string& separator /* = " " */) {
+  ifstream in(filename.c_str());
+  ::openCheck(in, filename, "loadNumbers");
+  vector<vector<float> > result;
+
+  while (!in.eof()) {
+    string line = ::getlineComment(in);
+    vector<string> tokens;
+    ::split(tokens, line, separator);
+    vector<float> numbers;
+    BOOST_FOREACH(string s, tokens)
+      numbers.push_back(::toInt(s));
+    if (!numbers.empty())
+      result.push_back(numbers);
+  }
+
+  return result;
+}
+
+int toInt(const std::string& s) { int i; fromString(i, s); return i;} //atoi
+
+float toFloat(const std::string& s) { float x; fromString(x, s); return x;}// lexical_cast<float>(s)
+
+double toDouble(const std::string& s) { double x; fromString(x, s); return x;}
+
+string getlineComment(ifstream& f) {
+  string s;
+  getline(f, s);
+  while ((!f.eof()) && (s[0] == ::commentChar)) {
+    getline(f, s);
+  }
+  
+  if (s[0] == ::commentChar)
+    s.clear();
+  return s;
+}
+
 void openWriteScientificPrecision(ofstream& out, const string& filename, const int& precision) {
   ::openWritePrecision(out, filename, precision);
   out.setf(ios::scientific);

--- a/include/cvutils.hpp	Wed Aug 24 19:43:44 2011 -0400
+++ b/include/cvutils.hpp	Fri Aug 26 19:38:11 2011 -0400
@@ -10,6 +10,9 @@
 /// constant that indicates if the image should be flipped
 //static const int flipImage = CV_CVTIMG_FLIP;
 
+/** Loads a cv mat from a text file where the numbers are saved line by line separated by separator */
+cv::Mat loadMat(const std::string& filename, const std::string& separator);
+
 template<typename T> 
 float scalarProduct(const cv::Point_<T>& v1, const cv::Point_<T>& v2) { return v1.x*v2.x+v1.y*v2.y;}
 

--- a/include/utils.hpp	Wed Aug 24 19:43:44 2011 -0400
+++ b/include/utils.hpp	Fri Aug 26 19:38:11 2011 -0400
@@ -2,9 +2,30 @@
 #define UTILS_HPP
 
 #include <iosfwd>
+#include <string>
+#include <vector>
 
 static const double pi = 3.14159265358979323846;
 
+static const std::string separator = " ";
+const char commentChar = '#';
+
+/** Loads lines of numbers from a text file, separated by some character */
+std::vector<std::vector<float> > loadNumbers(const std::string& filename, const std::string& separator = ::separator);
+
+/** Gets line in a file, skipping comments (starting with '#') (wrapper around getline).
+ * Warning: returns an empty string if all the lines to the end of the file are comments. */
+std::string getlineComment(std::ifstream& f);
+
+/** Converts a string to an integer. */
+int toInt(const std::string& s);
+
+/** Converts a string to a float. */
+float toFloat(const std::string& s);
+
+/** Converts a string to a double. */
+double toDouble(const std::string& s);
+
 /** Opens file for writing with fixed scientific precision. */
 void openWriteScientificPrecision(std::ofstream& out, const std::string& filename, const int& precision);
 
@@ -30,4 +51,29 @@
 
 inline bool skipKey(const int& pressedKey) { return (((char)pressedKey) == 'n' || ((char)pressedKey) == 'N');}
 
+
+// templates
+
+/** Splits a string on the separator. The resulting string items are added to the result (the list is not cleared). */
+template<class Seq>
+  inline void split(Seq& result, const std::string& text, const std::string& separator = ::separator) {
+  int n = text.length();
+
+  int start = text.find_first_not_of(separator);
+  while ((start >= 0) && (start < n)) {
+    int stop = text.find_first_of(separator, start);
+    if ((stop < 0) || (stop > n))
+      stop = n;
+    result.push_back(text.substr(start, stop - start));
+    start = text.find_first_not_of(separator, stop+1);
+  }
+}
+
+/** Converts strings to numbers. */
+template<typename T>
+bool fromString(T & result, const std::string & s) {
+  std::istringstream iss(s);
+  return iss >> result != 0;
+}
+
 #endif