Merge lp:~joseluis-hidalgo+launchpad/artoolkitplus/ARToolkitPlus-win into lp:artoolkitplus

[Jose L. Hidalgo Valiño]

Added support for Windows+visual_Studio

apart from adding a macro to export symbols in visual studio I changed some code related to some matrix creation on heap, Visual Studio doesn't support C99 VLAs.

Also added a CmakeLists.txt to compile using Cmake, but that's optional.

[Pavel Rojtberg (rojtberg)]

review: Approve

=== added file 'CMakeLists.txt'
--- CMakeLists.txt	1970-01-01 00:00:00 +0000
+++ CMakeLists.txt	2010-11-02 21:11:10 +0000
@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 2.4)
+project( AR )
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
+
+link_directories( ${LIBRARY_OUTPUT_PATH} )
+include_directories( "${AR_SOURCE_DIR}/include" )
+
+# ARToolkitPlus core files (headers and sources)
+file(GLOB_RECURSE HEADERS_AR "${AR_SOURCE_DIR}/include/ARToolkitPlus/*.h")
+file(GLOB SOURCES_AR
+	"${AR_SOURCE_DIR}/src/*.cpp"
+	"${AR_SOURCE_DIR}/src/core/*.cpp"
+	"${AR_SOURCE_DIR}/src/extra/*.cpp"
+	"${AR_SOURCE_DIR}/src/librpp/*.cpp"
+	)
+
+add_library(ARToolkitPlus
+	SHARED
+	${HEADERS_AR}
+	${SOURCES_AR}
+)
+
+set_target_properties(ARToolkitPlus PROPERTIES DEBUG_POSTFIX d)
+
+if(WIN32)
+	add_definitions(-D_CRT_SECURE_NO_WARNINGS)
+	add_definitions(-DAR_LIBRARY)
+else(WIN32)
+	set(CMAKE_C_FLAGS_DEBUG "-Wall -g ")
+	set(CMAKE_CXX_FLAGS_DEBUG "-Wall -g ")
+endif(WIN32)
+
+if(SLB_BUILD_TESTS)
+	enable_testing()
+	add_subdirectory(tests)
+endif(SLB_BUILD_TESTS)
+
+if(SLB_BUILD_EXAMPLES)
+	file(GLOB ALL_EXAMPLES "${SLB_SOURCE_DIR}/examples/*")
+	foreach(example ${ALL_EXAMPLES})
+		add_subdirectory(${example})
+	endforeach(example)
+endif(SLB_BUILD_EXAMPLES)

=== modified file 'include/ARToolKitPlus/Camera.h'
--- include/ARToolKitPlus/Camera.h	2010-02-09 14:44:21 +0000
+++ include/ARToolKitPlus/Camera.h	2010-11-02 21:11:10 +0000
@@ -25,7 +25,6 @@
 #include <string>
 #include <ARToolKitPlus/config.h>
 
-using std::string;
 
 namespace ARToolKitPlus {
 
@@ -36,7 +35,7 @@
  * this class used to be called ARParam in the classical ARToolkit
  * so do not wonder because of the method names
  */
-class Camera {
+class AR_EXPORT Camera {
 public:
     int xsize, ysize;
     ARFloat mat[3][4];
@@ -48,9 +47,9 @@
     Camera* clone();
     bool changeFrameSize(const int frameWidth, const int frameHeight);
     void printSettings();
-    string getFileName() const;
+    std::string getFileName() const;
 protected:
-    string fileName;
+    std::string fileName;
 
     // http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html
     ARFloat cc[2];

=== modified file 'include/ARToolKitPlus/Tracker.h'
--- include/ARToolKitPlus/Tracker.h	2010-03-05 14:31:19 +0000
+++ include/ARToolKitPlus/Tracker.h	2010-11-02 21:11:10 +0000
@@ -32,7 +32,6 @@
 
 #include <vector>
 
-using std::vector;
 
 namespace ARToolKitPlus {
 
@@ -50,7 +49,7 @@
  *  - TrackerSingleMarker
  *  - TrackerMultiMarker
  */
-class Tracker {
+class AR_EXPORT Tracker {
 public:
     Tracker(int imWidth, int imHeight, int maxImagePatterns = 8, int pattWidth = 6, int pattHeight = 6, int pattSamples = 6,
             int maxLoadPatterns = 0);
@@ -338,7 +337,7 @@
     int
     arGetCode(uint8_t *image, int *x_coord, int *y_coord, int *vertex, int *code, int *dir, ARFloat *cf, int thresh);
 
-    int arGetPatt(uint8_t *image, int *x_coord, int *y_coord, int *vertex, uint8_t **ext_pat[3]);
+    int arGetPatt(uint8_t *image, int *x_coord, int *y_coord, int *vertex, uint8_t *ext_pat);
 
     int pattern_match(uint8_t *data, int *code, int *dir, ARFloat *cf);
 
@@ -501,7 +500,7 @@
     arPrevInfo *prev_info;
     int prev_num;
 
-    vector<vector<arPrevInfo> > sprev_info;
+    std::vector<std::vector<arPrevInfo> > sprev_info;
     int sprev_num[2];
 
     // arDetectMarker2.cpp
@@ -514,16 +513,16 @@
     // arGetCode.cpp
     int pattern_num;
     int *patf;
-    vector<vector<vector<int> > > pat;
+    std::vector<std::vector<std::vector<int> > > pat;
     ARFloat (*patpow)[4];
-    vector<vector<vector<int> > > patBW;
+    std::vector<std::vector<std::vector<int> > > patBW;
     ARFloat (*patpowBW)[4];
 
-    vector<vector<ARFloat> > evec;
+    std::vector<std::vector<ARFloat> > evec;
     ARFloat (*epat)[4][EVEC_MAX];
     int evec_dim;
     int evecf;
-    vector<vector<ARFloat> > evecBW;
+    std::vector<std::vector<ARFloat> > evecBW;
     ARFloat (*epatBW)[4][EVEC_MAX];
     int evec_dimBW;
     int evecBWf;
@@ -592,7 +591,8 @@
 
     HULL_TRACKING_MODE hullTrackingMode;
 
-    static int screenWidth, screenHeight;
+    static int screenWidth;
+	static int screenHeight;
     int thresh;
 
     ARFloat gl_para[16];

=== modified file 'include/ARToolKitPlus/TrackerMultiMarker.h'
--- include/ARToolKitPlus/TrackerMultiMarker.h	2010-03-05 14:31:19 +0000
+++ include/ARToolKitPlus/TrackerMultiMarker.h	2010-11-02 21:11:10 +0000
@@ -36,7 +36,7 @@
  *  Furthermore it uses only 4 'good' points of the convex hull to do the pose estimation.
  *  You can override this using the according methods.
  */
-class TrackerMultiMarker: public Tracker {
+class AR_EXPORT TrackerMultiMarker: public Tracker {
 public:
     /**
      * These parameters control the way the toolkit warps a found

=== modified file 'include/ARToolKitPlus/TrackerSingleMarker.h'
--- include/ARToolKitPlus/TrackerSingleMarker.h	2010-03-05 14:31:19 +0000
+++ include/ARToolKitPlus/TrackerSingleMarker.h	2010-11-02 21:11:10 +0000
@@ -36,7 +36,7 @@
  *
  *  If you need multi-marker tracking use TrackerMultiMarker.
  */
-class TrackerSingleMarker: public Tracker {
+class AR_EXPORT TrackerSingleMarker: public Tracker {
 public:
     /**
      * These parameters control the way the toolkit warps a found
@@ -76,7 +76,7 @@
      * pass the image as RGBX (32-bits)
      * @return detected markers in image
      */
-    virtual vector<int> calc(const uint8_t* nImage, ARMarkerInfo** nMarker_info = NULL, int* nNumMarkers = NULL);
+    virtual std::vector<int> calc(const uint8_t* nImage, ARMarkerInfo** nMarker_info = NULL, int* nNumMarkers = NULL);
 
     /**
      * manually select one of the detected markers

=== modified file 'include/ARToolKitPlus/ar.h'
--- include/ARToolKitPlus/ar.h	2010-02-08 14:55:16 +0000
+++ include/ARToolKitPlus/ar.h	2010-11-02 21:11:10 +0000
@@ -40,7 +40,7 @@
     ARFloat pos[2];
     ARFloat line[4][3];
     ARFloat vertex[4][2];
-} ARMarkerInfo;
+} AR_EXPORT ARMarkerInfo;
 
 typedef struct {
     int area;
@@ -49,12 +49,12 @@
     int x_coord[AR_CHAIN_MAX];
     int y_coord[AR_CHAIN_MAX];
     int vertex[5];
-} ARMarkerInfo2;
+} AR_EXPORT ARMarkerInfo2;
 
 typedef struct {
     ARMarkerInfo marker;
     int count;
-} arPrevInfo;
+} AR_EXPORT arPrevInfo;
 
 } // namespace ARToolKitPlus
 

=== modified file 'include/ARToolKitPlus/arBitFieldPattern.h'
--- include/ARToolKitPlus/arBitFieldPattern.h	2010-02-12 15:11:58 +0000
+++ include/ARToolKitPlus/arBitFieldPattern.h	2010-11-02 21:11:10 +0000
@@ -76,13 +76,13 @@
 
 // some internal methods. primarily needed for
 // marker printing, etc.
-void generatePatternSimple(int nID, IDPATTERN& nPattern);
+void AR_EXPORT generatePatternSimple(int nID, IDPATTERN& nPattern);
 
-void generatePatternBCH(int nID, IDPATTERN& nPattern);
+void AR_EXPORT generatePatternBCH(int nID, IDPATTERN& nPattern);
 
 // static void setBit(IDPATTERN& pat, int which);
 
-bool isBitSet(IDPATTERN pat, int which);
+bool AR_EXPORT isBitSet(IDPATTERN pat, int which);
 
 } // namespace ARToolKitPlus
 

=== modified file 'include/ARToolKitPlus/arGetInitRot2Sub.h'
--- include/ARToolKitPlus/arGetInitRot2Sub.h	2010-02-12 15:11:58 +0000
+++ include/ARToolKitPlus/arGetInitRot2Sub.h	2010-11-02 21:11:10 +0000
@@ -25,7 +25,7 @@
 
 namespace rpp {
 
-void arGetInitRot2_sub(rpp_float &err, rpp_mat &R, rpp_vec &t, const rpp_float cc[2], const rpp_float fc[2],
+void AR_EXPORT arGetInitRot2_sub(rpp_float &err, rpp_mat &R, rpp_vec &t, const rpp_float cc[2], const rpp_float fc[2],
         const rpp_vec *model, const rpp_vec *iprts, const unsigned int model_iprts_size, const rpp_mat R_init,
         const bool estimate_R_init, const rpp_float epsilon, const rpp_float tolerance,
         const unsigned int max_iterations);
@@ -33,4 +33,4 @@
 } // namespace rpp
 
 
-#endif //__ARTOOLKITPLUS_ARGETINITROT2SUB_HEADERFILE__
+#endif //__ARTOOLKITPLUS_ARGETINITROT2SUB_HEADERFILE__

=== modified file 'include/ARToolKitPlus/arMulti.h'
--- include/ARToolKitPlus/arMulti.h	2010-03-05 14:31:19 +0000
+++ include/ARToolKitPlus/arMulti.h	2010-11-02 21:11:10 +0000
@@ -37,7 +37,7 @@
     int     visible;
 /*---*/
     int     visibleR;
-} ARMultiEachMarkerInfoT;
+} AR_EXPORT ARMultiEachMarkerInfoT;
 
 typedef struct {
     ARMultiEachMarkerInfoT  *marker;
@@ -46,7 +46,7 @@
     int                     prevF;
 /*---*/
     ARFloat                  transR[3][4];
-} ARMultiMarkerInfoT;
+} AR_EXPORT ARMultiMarkerInfoT;
 
 
 } // namespace ARToolKitPlus

=== modified file 'include/ARToolKitPlus/config.h' (properties changed: -x to +x)
--- include/ARToolKitPlus/config.h	2010-02-12 14:55:53 +0000
+++ include/ARToolKitPlus/config.h	2010-11-02 21:11:10 +0000
@@ -96,5 +96,37 @@
   #define getLUM8_from_RGB565(ptr)   RGB565_to_LUM8_LUT[ (*(unsigned short*)(ptr))    ]
 #endif //SMALL_LUM8_TABLE
 
+// disable VisualStudio warnings 
+#if defined(_MSC_VER) && !defined(AR_ENABLE_MSVC_WARNINGS)
+    #pragma warning( disable : 4244 )
+    #pragma warning( disable : 4251 )
+    #pragma warning( disable : 4275 )
+    #pragma warning( disable : 4512 )
+    #pragma warning( disable : 4267 )
+    #pragma warning( disable : 4702 )
+    #pragma warning( disable : 4511 )
+#endif
+
+// Support for Visual Studio compilation
+#if defined(AR_STATIC)
+	#define AR_EXPORT 
+#else
+	#if defined(_MSC_VER) || defined(__CYGWIN__) || defined(__MINGW32__) || defined( __BCPLUSPLUS__)  || defined( __MWERKS__)
+		#  if defined( AR_LIBRARY )
+		#    define AR_EXPORT   __declspec(dllexport)
+		#  else
+		#    define AR_EXPORT   __declspec(dllimport)
+		#  endif
+	#else
+		#  define AR_EXPORT
+	#endif
+#endif
+
+#ifdef _MSC_VER
+# if (_MSC_VER >= 1300)
+#  define __STL_MEMBER_TEMPLATES
+# endif
+#endif
+
 #endif //  AR_CONFIG_H
 

=== modified file 'include/ARToolKitPlus/extra/BCH.h'
--- include/ARToolKitPlus/extra/BCH.h	2010-02-12 15:11:58 +0000
+++ include/ARToolKitPlus/extra/BCH.h	2010-11-02 21:11:10 +0000
@@ -22,6 +22,8 @@
 #ifndef __BCH_CODE__H__
 #define __BCH_CODE__H__
 
+#include <ARToolKitPlus/config.h>
+
 #include <vector>
 
 namespace ARToolKitPlus {
@@ -62,7 +64,7 @@
 // static void printBitPattern(_64bits n, int n_bits);
 
 
-class BCH
+class AR_EXPORT BCH
 // this class implements a (36, 12, 9) binary BCH encoder/decoder
 {
 public:

=== modified file 'include/ARToolKitPlus/extra/Hull.h'
--- include/ARToolKitPlus/extra/Hull.h	2010-02-12 15:11:58 +0000
+++ include/ARToolKitPlus/extra/Hull.h	2010-11-02 21:11:10 +0000
@@ -22,12 +22,14 @@
 #ifndef __ARTOOLKITPLUS_HULL_HEADERFILE__
 #define __ARTOOLKITPLUS_HULL_HEADERFILE__
 
+#include <ARToolKitPlus/config.h>
+
 namespace ARToolKitPlus {
 
 const int MAX_HULL_POINTS = 64; // support up to 16 visible markers
 
 
-struct MarkerPoint {
+struct AR_EXPORT MarkerPoint {
     typedef int coord_type;
 
     coord_type x, y;
@@ -38,17 +40,17 @@
     return nValue >= 0 ? nValue : -nValue;
 }
 
-int nearHull_2D(const MarkerPoint* P, int n, int k, MarkerPoint* H);
-
-void findLongestDiameter(const MarkerPoint* nPoints, int nNumPoints, int &nIdx0, int &nIdx1);
-
-void findFurthestAway(const MarkerPoint* nPoints, int nNumPoints, int nIdx0, int nIdx1, int& nIdxFarthest);
-
-void maximizeArea(const MarkerPoint* nPoints, int nNumPoints, int nIdx0, int nIdx1, int nIdx2, int& nIdxMax);
-
-void sortIntegers(int& nIdx0, int& nIdx1, int& nIdx2);
-
-void sortInLastInteger(int& nIdx0, int& nIdx1, int& nIdx2, int &nIdx3);
+AR_EXPORT int nearHull_2D(const MarkerPoint* P, int n, int k, MarkerPoint* H);
+
+AR_EXPORT void findLongestDiameter(const MarkerPoint* nPoints, int nNumPoints, int &nIdx0, int &nIdx1);
+
+AR_EXPORT void findFurthestAway(const MarkerPoint* nPoints, int nNumPoints, int nIdx0, int nIdx1, int& nIdxFarthest);
+
+AR_EXPORT void maximizeArea(const MarkerPoint* nPoints, int nNumPoints, int nIdx0, int nIdx1, int nIdx2, int& nIdxMax);
+
+AR_EXPORT void sortIntegers(int& nIdx0, int& nIdx1, int& nIdx2);
+
+AR_EXPORT void sortInLastInteger(int& nIdx0, int& nIdx1, int& nIdx2, int &nIdx3);
 
 } // namespace ARToolKitPlus
 

=== modified file 'include/ARToolKitPlus/extra/rpp.h'
--- include/ARToolKitPlus/extra/rpp.h	2010-02-12 15:11:58 +0000
+++ include/ARToolKitPlus/extra/rpp.h	2010-11-02 21:11:10 +0000
@@ -21,11 +21,13 @@
 #ifndef __LINK_WITH_RPP__
 #define __LINK_WITH_RPP__
 
+#include <ARToolKitPlus/config.h>
+
 typedef double rpp_float;
 typedef double rpp_vec[3];
 typedef double rpp_mat[3][3];
 
-void robustPlanarPose(rpp_float &err, rpp_mat &R, rpp_vec &t, const rpp_float cc[2], const rpp_float fc[2],
+AR_EXPORT void robustPlanarPose(rpp_float &err, rpp_mat &R, rpp_vec &t, const rpp_float cc[2], const rpp_float fc[2],
         const rpp_vec *model, const rpp_vec *iprts, const unsigned int model_iprts_size, const rpp_mat R_init,
         const bool estimate_R_init, const rpp_float epsilon, const rpp_float tolerance,
         const unsigned int max_iterations);

=== modified file 'include/ARToolKitPlus/matrix.h'
--- include/ARToolKitPlus/matrix.h	2010-02-12 15:11:58 +0000
+++ include/ARToolKitPlus/matrix.h	2010-11-02 21:11:10 +0000
@@ -36,7 +36,7 @@
 
 namespace ARToolKitPlus {
 
-struct ARMat {
+struct AR_EXPORT ARMat {
     ARFloat *m;
     int row;
     int clm;
@@ -49,14 +49,14 @@
 /* 1 origin */
 #define ARELEM1(mat,row,clm) ARELEM0(mat,row-1,clm-1)
 
-ARMat *alloc(int row, int clm);
-int free(ARMat *m);
-
-int dup(ARMat *dest, ARMat *source);
-ARMat *allocDup(ARMat *source);
-
-int mul(ARMat *dest, ARMat *a, ARMat *b);
-int selfInv(ARMat *m);
+AR_EXPORT ARMat *alloc(int row, int clm);
+AR_EXPORT int free(ARMat *m);
+
+AR_EXPORT int dup(ARMat *dest, ARMat *source);
+AR_EXPORT ARMat *allocDup(ARMat *source);
+
+AR_EXPORT int mul(ARMat *dest, ARMat *a, ARMat *b);
+AR_EXPORT int selfInv(ARMat *m);
 
 } // namespace Matrix
 

=== modified file 'include/ARToolKitPlus/vector.h'
--- include/ARToolKitPlus/vector.h	2010-02-12 15:11:58 +0000
+++ include/ARToolKitPlus/vector.h	2010-11-02 21:11:10 +0000
@@ -27,17 +27,17 @@
 
 struct ARMat;
 
-struct ARVec {
+struct AR_EXPORT ARVec {
 	ARFloat *v;
 	int clm;
 };
 
 namespace Vector {
-ARVec *alloc(int clm);
-int free(ARVec *v);
-ARFloat household(ARVec *x);
-ARFloat innerproduct(ARVec *x, ARVec *y);
-int tridiagonalize(ARMat *a, ARVec *d, ARVec *e);
+AR_EXPORT ARVec * alloc(int clm);
+AR_EXPORT int free(ARVec *v);
+AR_EXPORT ARFloat household(ARVec *x);
+AR_EXPORT ARFloat innerproduct(ARVec *x, ARVec *y);
+AR_EXPORT int tridiagonalize(ARMat *a, ARVec *d, ARVec *e);
 }
 
 } // namespace ARToolKitPlus

=== modified file 'src/Tracker.cpp'
--- src/Tracker.cpp	2010-03-05 14:31:19 +0000
+++ src/Tracker.cpp	2010-11-02 21:11:10 +0000
@@ -25,6 +25,7 @@
 
 using std::cerr;
 using std::endl;
+using std::vector;
 
 namespace ARToolKitPlus {
 

=== modified file 'src/TrackerSingleMarker.cpp'
--- src/TrackerSingleMarker.cpp	2010-03-05 14:31:19 +0000
+++ src/TrackerSingleMarker.cpp	2010-11-02 21:11:10 +0000
@@ -56,8 +56,8 @@
         return true;
 }
 
-vector<int> TrackerSingleMarker::calc(const uint8_t* nImage, ARMarkerInfo** nMarker_info, int* nNumMarkers) {
-    vector<int> detected;
+std::vector<int> TrackerSingleMarker::calc(const uint8_t* nImage, ARMarkerInfo** nMarker_info, int* nNumMarkers) {
+    std::vector<int> detected;
 
     if (nImage == NULL)
         return detected;

=== modified file 'src/core/arGetCode.cpp'
--- src/core/arGetCode.cpp	2010-02-09 12:37:58 +0000
+++ src/core/arGetCode.cpp	2010-11-02 21:11:10 +0000
@@ -146,17 +146,23 @@
 
 int Tracker::arGetCode(uint8_t *image, int *x_coord, int *y_coord, int *vertex, int *code, int *dir, ARFloat *cf,
 		int thresh) {
-	uint8_t ext_pat[PATTERN_HEIGHT][PATTERN_WIDTH][3];
+	#define _M(VAR, h,w,c) VAR[(h)*(PATTERN_WIDTH*3) + (w)*3 + (c)]
+	uint8_t *ext_pat = new uint8_t[PATTERN_HEIGHT*PATTERN_WIDTH*3];
 
-	arGetPatt(image, x_coord, y_coord, vertex, (uint8_t***) ext_pat);
+	arGetPatt(image, x_coord, y_coord, vertex, ext_pat);
 
 	if (autoThreshold.enable) {
 		int x, y;
 
 		for (y = 0; y < PATTERN_HEIGHT; y++)
 			for (x = 0; x < PATTERN_WIDTH; x++)
-				autoThreshold.addValue(ext_pat[y][x][0], ext_pat[y][x][1], ext_pat[y][x][2], pixelFormat);
+				autoThreshold.addValue(
+					_M(ext_pat,y,x,0),
+					_M(ext_pat,y,x,1),
+					_M(ext_pat,y,x,2),
+					pixelFormat);
 	}
+	#undef _M
 
 	//	FILE* fp = fopen("dump.raw", "wb");
 	//	fwrite(ext_pat, PATTERN_HEIGHT*PATTERN_WIDTH*3, 1, fp);
@@ -186,15 +192,15 @@
 	 else
 	 pattern_match((uint8_t *)ext_pat, code, dir, cf);*/
 
+	delete[] ext_pat;
 	return (0);
 }
 
 //#if 1
-int Tracker::arGetPatt(uint8_t *image, int *x_coord, int *y_coord, int *vertex, uint8_t **pext_pat[3]) {
-	uint8_t (*ext_pat)[PATTERN_WIDTH][3];
-	ext_pat = (uint8_t(*)[PATTERN_WIDTH][3]) pext_pat;
+int Tracker::arGetPatt(uint8_t *image, int *x_coord, int *y_coord, int *vertex, uint8_t *ext_pat) {
+	#define _M(VAR, h,w,c) VAR[(h)*(PATTERN_WIDTH*3) + (w)*3 + (c)]
 
-	uint32_t ext_pat2[PATTERN_HEIGHT][PATTERN_WIDTH][3];
+	uint32_t *ext_pat2 = new uint32_t[PATTERN_HEIGHT*PATTERN_WIDTH*3];
 	ARFloat world[4][2];
 	ARFloat local[4][2];
 	ARFloat para[3][3];
@@ -264,7 +270,7 @@
 	if (xdiv == 1 && ydiv == 1) {
 		ARFloat border = relBorderWidth * 10.0f;
 		ARFloat xyFrom = 100.0f + border, xyTo = 110.0f - border, xyStep = xyTo - xyFrom;
-		ARFloat steps[PATTERN_WIDTH];
+		ARFloat *steps = new ARFloat[PATTERN_WIDTH];
 
 		for (i = 0; i < xdiv2; i++)
 			steps[i] = xyFrom + xyStep * (ARFloat) (i + 0.5f) / (ARFloat) xdiv2;
@@ -288,51 +294,54 @@
 				if (xc >= 0 && xc < arImXsize && yc >= 0 && yc < arImYsize) {
 					switch (pixelFormat) {
 					case PIXEL_FORMAT_ABGR:
-						ext_pat[j][i][0] = image[(yc * arImXsize + xc) * 4 + 1];
-						ext_pat[j][i][1] = image[(yc * arImXsize + xc) * 4 + 2];
-						ext_pat[j][i][2] = image[(yc * arImXsize + xc) * 4 + 3];
+						_M(ext_pat,j,i,0) = image[(yc * arImXsize + xc) * 4 + 1];
+						_M(ext_pat,j,i,1) = image[(yc * arImXsize + xc) * 4 + 2];
+						_M(ext_pat,j,i,2) = image[(yc * arImXsize + xc) * 4 + 3];
 						break;
 
 					case PIXEL_FORMAT_BGRA:
-						ext_pat[j][i][0] = image[(yc * arImXsize + xc) * 4 + 0];
-						ext_pat[j][i][1] = image[(yc * arImXsize + xc) * 4 + 1];
-						ext_pat[j][i][2] = image[(yc * arImXsize + xc) * 4 + 2];
+						_M(ext_pat,j,i,0) = image[(yc * arImXsize + xc) * 4 + 0];
+						_M(ext_pat,j,i,1) = image[(yc * arImXsize + xc) * 4 + 1];
+						_M(ext_pat,j,i,2) = image[(yc * arImXsize + xc) * 4 + 2];
 						break;
 
 					case PIXEL_FORMAT_BGR:
-						ext_pat[j][i][0] = image[(yc * arImXsize + xc) * 3 + 0];
-						ext_pat[j][i][1] = image[(yc * arImXsize + xc) * 3 + 1];
-						ext_pat[j][i][2] = image[(yc * arImXsize + xc) * 3 + 2];
+						_M(ext_pat,j,i,0) = image[(yc * arImXsize + xc) * 3 + 0];
+						_M(ext_pat,j,i,1) = image[(yc * arImXsize + xc) * 3 + 1];
+						_M(ext_pat,j,i,2) = image[(yc * arImXsize + xc) * 3 + 2];
 						break;
 
 					case PIXEL_FORMAT_RGBA:
-						ext_pat[j][i][0] = image[(yc * arImXsize + xc) * 4 + 2];
-						ext_pat[j][i][1] = image[(yc * arImXsize + xc) * 4 + 1];
-						ext_pat[j][i][2] = image[(yc * arImXsize + xc) * 4 + 0];
+						_M(ext_pat,j,i,0) = image[(yc * arImXsize + xc) * 4 + 2];
+						_M(ext_pat,j,i,1) = image[(yc * arImXsize + xc) * 4 + 1];
+						_M(ext_pat,j,i,2) = image[(yc * arImXsize + xc) * 4 + 0];
 
 					case PIXEL_FORMAT_RGB:
-						ext_pat[j][i][0] = image[(yc * arImXsize + xc) * 3 + 2];
-						ext_pat[j][i][1] = image[(yc * arImXsize + xc) * 3 + 1];
-						ext_pat[j][i][2] = image[(yc * arImXsize + xc) * 3 + 0];
+						_M(ext_pat,j,i,0) = image[(yc * arImXsize + xc) * 3 + 2];
+						_M(ext_pat,j,i,1) = image[(yc * arImXsize + xc) * 3 + 1];
+						_M(ext_pat,j,i,2) = image[(yc * arImXsize + xc) * 3 + 0];
 						break;
 
 					case PIXEL_FORMAT_RGB565:
 						col8 = getLUM8_from_RGB565(image16+yc*arImXsize+xc);
-						ext_pat[j][i][0] = col8;
-						ext_pat[j][i][1] = col8;
-						ext_pat[j][i][2] = col8;
+						_M(ext_pat,j,i,0) = col8;
+						_M(ext_pat,j,i,1) = col8;
+						_M(ext_pat,j,i,2) = col8;
 						break;
 
 					case PIXEL_FORMAT_LUM:
 						col8 = image[(yc * arImXsize + xc)];
-						ext_pat[j][i][0] = col8;
-						ext_pat[j][i][1] = col8;
-						ext_pat[j][i][2] = col8;
+						_M(ext_pat,j,i,0) = col8;
+						_M(ext_pat,j,i,1) = col8;
+						_M(ext_pat,j,i,2) = col8;
 						break;
 					}
 				}
 			}
 		}
+		
+		// free memory
+		delete[] steps;
 	} else
 	// general case: xdiv!=1 or ydiv!=1
 	//
@@ -363,51 +372,51 @@
 				if (xc >= 0 && xc < arImXsize && yc >= 0 && yc < arImYsize) {
 					switch (pixelFormat) {
 					case PIXEL_FORMAT_ABGR:
-						ext_pat2[j / ydiv][i / xdiv][0] += image[(yc * arImXsize + xc) * 4 + 1];
-						ext_pat2[j / ydiv][i / xdiv][1] += image[(yc * arImXsize + xc) * 4 + 2];
-						ext_pat2[j / ydiv][i / xdiv][2] += image[(yc * arImXsize + xc) * 4 + 3];
+						_M(ext_pat2,j / ydiv,i / xdiv,0) += image[(yc * arImXsize + xc) * 4 + 1];
+						_M(ext_pat2,j / ydiv,i / xdiv,1) += image[(yc * arImXsize + xc) * 4 + 2];
+						_M(ext_pat2,j / ydiv,i / xdiv,2) += image[(yc * arImXsize + xc) * 4 + 3];
 						break;
 
 					case PIXEL_FORMAT_BGRA:
-						ext_pat2[j / ydiv][i / xdiv][0] += image[(yc * arImXsize + xc) * 4 + 0];
-						ext_pat2[j / ydiv][i / xdiv][1] += image[(yc * arImXsize + xc) * 4 + 1];
-						ext_pat2[j / ydiv][i / xdiv][2] += image[(yc * arImXsize + xc) * 4 + 2];
+						_M(ext_pat2,j / ydiv,i / xdiv,0) += image[(yc * arImXsize + xc) * 4 + 0];
+						_M(ext_pat2,j / ydiv,i / xdiv,1) += image[(yc * arImXsize + xc) * 4 + 1];
+						_M(ext_pat2,j / ydiv,i / xdiv,2) += image[(yc * arImXsize + xc) * 4 + 2];
 						break;
 
 					case PIXEL_FORMAT_BGR:
-						ext_pat2[j / ydiv][i / xdiv][0] += image[(yc * arImXsize + xc) * 3 + 0];
-						ext_pat2[j / ydiv][i / xdiv][1] += image[(yc * arImXsize + xc) * 3 + 1];
-						ext_pat2[j / ydiv][i / xdiv][2] += image[(yc * arImXsize + xc) * 3 + 2];
+						_M(ext_pat2,j / ydiv,i / xdiv,0) += image[(yc * arImXsize + xc) * 3 + 0];
+						_M(ext_pat2,j / ydiv,i / xdiv,1) += image[(yc * arImXsize + xc) * 3 + 1];
+						_M(ext_pat2,j / ydiv,i / xdiv,2) += image[(yc * arImXsize + xc) * 3 + 2];
 						break;
 
 					case PIXEL_FORMAT_RGBA:
-						ext_pat2[j / ydiv][i / xdiv][0] += image[(yc * arImXsize + xc) * 4 + 2];
-						ext_pat2[j / ydiv][i / xdiv][1] += image[(yc * arImXsize + xc) * 4 + 1];
-						ext_pat2[j / ydiv][i / xdiv][2] += image[(yc * arImXsize + xc) * 4 + 0];
+						_M(ext_pat2,j / ydiv,i / xdiv,0) += image[(yc * arImXsize + xc) * 4 + 2];
+						_M(ext_pat2,j / ydiv,i / xdiv,1) += image[(yc * arImXsize + xc) * 4 + 1];
+						_M(ext_pat2,j / ydiv,i / xdiv,2) += image[(yc * arImXsize + xc) * 4 + 0];
 						break;
 
 					case PIXEL_FORMAT_RGB:
-						ext_pat2[j / ydiv][i / xdiv][0] += image[(yc * arImXsize + xc) * 3 + 2];
-						ext_pat2[j / ydiv][i / xdiv][1] += image[(yc * arImXsize + xc) * 3 + 1];
-						ext_pat2[j / ydiv][i / xdiv][2] += image[(yc * arImXsize + xc) * 3 + 0];
+						_M(ext_pat2,j / ydiv,i / xdiv,0) += image[(yc * arImXsize + xc) * 3 + 2];
+						_M(ext_pat2,j / ydiv,i / xdiv,1) += image[(yc * arImXsize + xc) * 3 + 1];
+						_M(ext_pat2,j / ydiv,i / xdiv,2) += image[(yc * arImXsize + xc) * 3 + 0];
 						break;
 
 					case PIXEL_FORMAT_RGB565:
 						jy = j / ydiv;
 						ix = i / xdiv;
 						col8 = getLUM8_from_RGB565(image16+yc*arImXsize+xc);
-						ext_pat2[jy][ix][0] += col8;
-						ext_pat2[jy][ix][1] += col8;
-						ext_pat2[jy][ix][2] += col8;
+						_M(ext_pat2,jy,ix,0) += col8;
+						_M(ext_pat2,jy,ix,1) += col8;
+						_M(ext_pat2,jy,ix,2) += col8;
 						break;
 
 					case PIXEL_FORMAT_LUM:
 						jy = j / ydiv;
 						ix = i / xdiv;
 						col8 = image[yc * arImXsize + xc];
-						ext_pat2[jy][ix][0] += col8;
-						ext_pat2[jy][ix][1] += col8;
-						ext_pat2[jy][ix][2] += col8;
+						_M(ext_pat2,jy,ix,0) += col8;
+						_M(ext_pat2,jy,ix,1) += col8;
+						_M(ext_pat2,jy,ix,2) += col8;
 						break;
 					}
 				}
@@ -416,19 +425,21 @@
 
 		for (j = 0; j < PATTERN_HEIGHT; j++) {
 			for (i = 0; i < PATTERN_HEIGHT; i++) {
-				ext_pat[j][i][0] = ext_pat2[j][i][0] / (xdiv * ydiv);
-				ext_pat[j][i][1] = ext_pat2[j][i][1] / (xdiv * ydiv);
-				ext_pat[j][i][2] = ext_pat2[j][i][2] / (xdiv * ydiv);
+				_M(ext_pat,j,i,0) = _M(ext_pat2,j,i,0) / (xdiv * ydiv);
+				_M(ext_pat,j,i,1) = _M(ext_pat2,j,i,1) / (xdiv * ydiv);
+				_M(ext_pat,j,i,2) = _M(ext_pat2,j,i,2) / (xdiv * ydiv);
 			}
 		}
 	}
 
+	#undef _M
+	delete[] ext_pat2;
 	return (0);
 }
 
 int Tracker::pattern_match(uint8_t *data, int *code, int *dir, ARFloat *cf) {
 	ARFloat invec[EVEC_MAX];
-	int input[PATTERN_HEIGHT * PATTERN_WIDTH * 3];
+	int *input = new int[PATTERN_HEIGHT * PATTERN_WIDTH * 3];
 	int i, j, l;
 	int k = 0; // fix VC7 compiler warning: uninitialized variable
 	int ave, sum, res, res2;
@@ -563,7 +574,8 @@
 #ifdef ARTK_DEBUG
 	printf("%d %d %f\n", res2, res, max);
 #endif
-
+	
+	delete[] input;
 	return 0;
 }