KLT update

Modifications

Some minor modifications were necessary to the additional layer. You can see all differences in the diff file klt::diff, and in summary :

• error.h : changed to throw Jafar exceptions for errors.
• klt.h : added errorx, errory and errorval to the KLT_TrackingContext structure for a debugging purpose, in order to be able to draw old positions of features which have been suppressed because assumed to belong to the landscape.
• klt.h : added KLTSelectGoodFeaturesWindow, KLTReplaceLostFeaturesWindow and KLTWriteFeatureListToImg functions.
• pyramid.c : added a test to not free the pyramid if null
• selectGoodFeatures.c : added code to write new errorx, errory and errorval variables.
• selectGoodFeatures.c : changed _KLTSelectGoodFeatures to _KLTSelectGoodFeaturesWindow, with code to select in a given window
• selectGoodFeatures.c : changed KLTSelectGoodFeatures and KLTReplaceLostFeatures to use the new _KLTSelectGoodFeaturesWindow function and do the same thing than before, and added KLTSelectGoodFeaturesWindow and KLTReplaceLostFeaturesWindow functions.

How to update

The author sometimes publishes updates of his library, fixing some bugs. This section explains how to update the klt jafar module from the original sources.

First you have to copy all .c and .h files of the klt lib in the src/klt folder (except example*.c). Then you can apply the patch modules/klt/klt.patch by executing the command :

 patch -p2 klt.patch