From 92e6117c4efccbed4cfdd0439a983eb1bc038dcc Mon Sep 17 00:00:00 2001
From: Jeremy Laviole <j.laviole@catie.fr>
Date: Fri, 28 Oct 2022 16:46:47 +0200
Subject: [PATCH] not sure why, works now with OpenNI2

---
 papart/pom.xml                                |  23 +-
 .../papart/procam/camera/CameraOpenNI2.java   | 689 ++++++-------
 .../src/fr/inria/papart/utils/ImageUtils.java | 925 +++++++++---------
 .../fr/inria/papart/utils/LibraryUtils.java   |   4 +-
 4 files changed, 823 insertions(+), 818 deletions(-)

diff --git a/papart/pom.xml b/papart/pom.xml
index 38285587..e5c51022 100755
--- a/papart/pom.xml
+++ b/papart/pom.xml
@@ -10,7 +10,6 @@
     <description>Paper Augmented Reality Toolkit</description>
     <url>https://github.com/natar-io/PapARt</url>
 
-
     <repositories>
         <repository>
             <id>clojars.org</id>
@@ -89,15 +88,7 @@
             <artifactId>commons-cli</artifactId>
             <version>1.4</version>
         </dependency>
-        
-
-        <dependency>
-            <groupId>org.openni</groupId>
-            <artifactId>OpenNI</artifactId>
-            <version>2.3.1</version>
-        </dependency>
-
-
+      
         <dependency>
             <groupId>tech.lity.rea</groupId>
             <artifactId>ColorConverter</artifactId>
@@ -109,13 +100,6 @@
             <artifactId>SimplePointCloud</artifactId>
             <version>0.1</version>
         </dependency>
-<!--    <dependency>
-            <groupId>org.openni</groupId>
-            <artifactId>OpenNI-bin</artifactId>
-            <version>2.3</version>
-            <scope>runtime</scope>
-        </dependency>-->
-
 
         <!--We distribute with PapARt-->
         <dependency>
@@ -151,6 +135,11 @@
         </dependency>
 
 
+        <dependency>
+            <groupId>org.openni</groupId>
+            <artifactId>OpenNI</artifactId>
+            <version>2.3.1</version>
+        </dependency>
 <!--        <dependency>
             <groupId>org.jogamp.jogl</groupId>
             <artifactId>newt-main</artifactId>
diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenNI2.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenNI2.java
index 578095f0..e5fa3169 100755
--- a/papart/src/fr/inria/papart/procam/camera/CameraOpenNI2.java
+++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenNI2.java
@@ -29,9 +29,16 @@
 import javax.swing.JOptionPane;
 import org.bytedeco.javacpp.Pointer;
 import org.bytedeco.opencv.opencv_core.*;
+
+import org.openni.OpenNI;
+import org.openni.SensorType;
+import org.openni.VideoFrameRef;
+import org.openni.VideoMode;
+import org.openni.VideoStream;
+
 import static org.bytedeco.opencv.global.opencv_core.IPL_DEPTH_8U;
 
-import org.openni.*;
+//import org.openni
 
 import fr.inria.papart.procam.RedisClient;
 import fr.inria.papart.procam.VideoEmitter;
@@ -43,382 +50,382 @@
  */
 public class CameraOpenNI2 extends CameraRGBIRDepth {
 
-    private VideoStream colorStream, IRStream, depthStream;
-    // From the OpenNI example.
-    org.openni.Device device;
-    private int colorImageCount;
-    private int depthImageCount;
-
-    protected CameraOpenNI2(int cameraNo) {
-        this.systemNumber = cameraNo;
-//        grabber = new OpenKinectFrameGrabber(this.systemNumber);
-        initDevice();
+  private VideoStream colorStream, IRStream, depthStream;
+  // From the OpenNI example.
+  org.openni.Device device;
+  private int colorImageCount;
+  private int depthImageCount;
+
+  protected CameraOpenNI2(int cameraNo) {
+    this.systemNumber = cameraNo;
+    // grabber = new OpenKinectFrameGrabber(this.systemNumber);
+    initDevice();
+  }
+
+  @Override
+  public void internalStart() throws FrameGrabber.Exception {
+    if (useColor) {
+      colorStream = initStream(
+          // PixelFormat.BGR,
+          PixelFormat.RGB,
+          org.openni.PixelFormat.RGB888,
+          SensorType.COLOR,
+          new FrameListener(colorCamera),
+          colorCamera);
+
+      colorStream.setMirroringEnabled(false);
+      colorCamera.setUndistort(false);
+      colorStream.start();
     }
 
-    @Override
-    public void internalStart() throws FrameGrabber.Exception {
-        if (useColor) {
-            colorStream = initStream(
-                    //                    PixelFormat.BGR,
-                    PixelFormat.RGB,
-                    org.openni.PixelFormat.RGB888,
-                    SensorType.COLOR,
-                    new FrameListener(colorCamera),
-                    colorCamera);
-
-            colorStream.setMirroringEnabled(false);
-            colorCamera.setUndistort(false);
-            colorStream.start();
-        }
+    if (useIR) {
+      IRStream = initStream(
+          PixelFormat.RGB,
+          org.openni.PixelFormat.RGB888,
+          SensorType.IR,
+          new FrameListener(IRCamera),
+          IRCamera);
+      IRStream.setMirroringEnabled(false);
+      IRCamera.setUndistort(false);
+      IRStream.start();
 
-        if (useIR) {
-            IRStream = initStream(
-                    PixelFormat.RGB,
-                    org.openni.PixelFormat.RGB888,
-                    SensorType.IR,
-                    new FrameListener(IRCamera),
-                    IRCamera);
-            IRStream.setMirroringEnabled(false);
-            IRCamera.setUndistort(false);
-            IRStream.start();
-
-        }
-
-        if (useDepth) {
-            depthStream = initStream(
-                    PixelFormat.OPENNI_2_DEPTH,
-                    org.openni.PixelFormat.DEPTH_1_MM,
-                    SensorType.DEPTH,
-                    new FrameListener(depthCamera),
-                    depthCamera);
-            depthStream.setMirroringEnabled(false);
-            depthCamera.setUndistort(false);
-            depthStream.start();
-        }
     }
 
-    private VideoStream initStream(PixelFormat format1,
-            org.openni.PixelFormat format2,
-            SensorType type,
-            FrameListener listener,
-            Camera camera) {
-
-        camera.setPixelFormat(format1);
-        VideoStream videoStream = VideoStream.create(device, type);
-        videoStream.setMirroringEnabled(false);
-        VideoMode vm = new VideoMode(camera.width(),
-                camera.height(),
-                camera.getFrameRate(), format2.toNative());
-
-        videoStream.setVideoMode(vm);
-
-        videoStream.addNewFrameListener(listener);
-        return videoStream;
+    if (useDepth) {
+      depthStream = initStream(
+          PixelFormat.OPENNI_2_DEPTH,
+          org.openni.PixelFormat.DEPTH_1_MM,
+          SensorType.DEPTH,
+          new FrameListener(depthCamera),
+          depthCamera);
+      depthStream.setMirroringEnabled(false);
+      depthCamera.setUndistort(false);
+      depthStream.start();
     }
-
-    @Override
-    public void setSize(int w, int h) {
-        Camera act = getActingCamera();
-        if (act == null) {
-            // it is likely that the set size was for the color camera then.
-            if (useColor) {
-                colorCamera.setSize(w, h);
-            }
-        } else {
-            act.setSize(w, h);
-        }
+  }
+
+  private VideoStream initStream(PixelFormat format1,
+      org.openni.PixelFormat format2,
+      SensorType type,
+      FrameListener listener,
+      Camera camera) {
+
+    camera.setPixelFormat(format1);
+    VideoStream videoStream = VideoStream.create(device, type);
+    videoStream.setMirroringEnabled(false);
+    VideoMode vm = new VideoMode(camera.width(),
+        camera.height(),
+        camera.getFrameRate(), format2.toNative());
+
+    videoStream.setVideoMode(vm);
+
+    videoStream.addNewFrameListener(listener);
+    return videoStream;
+  }
+
+  @Override
+  public void setSize(int w, int h) {
+    Camera act = getActingCamera();
+    if (act == null) {
+      // it is likely that the set size was for the color camera then.
+      if (useColor) {
+        colorCamera.setSize(w, h);
+      }
+    } else {
+      act.setSize(w, h);
     }
-
-    @Override
-    public void close() {
-        setClosing();
-        try {
-            if (this.colorStream != null) {
-                colorStream.stop();
-            }
-            if (this.IRStream != null) {
-                IRStream.stop();
-            }
-            if (this.depthStream != null) {
-                depthStream.stop();
-            }
-            device.close();
-            // Closing can fail due to bad thread access management.
-        } catch (Exception e) {
-        }
+  }
+
+  @Override
+  public void close() {
+    setClosing();
+    try {
+      if (this.colorStream != null) {
+        colorStream.stop();
+      }
+      if (this.IRStream != null) {
+        IRStream.stop();
+      }
+      if (this.depthStream != null) {
+        depthStream.stop();
+      }
+      device.close();
+      // Closing can fail due to bad thread access management.
+    } catch (Exception e) {
     }
-
-    /**
-     * *
-     * The thread does not start, each sub camera has its own native thread.
-     */
-    @Override
-    public void setThread() {
-        if (thread == null) {
-            thread = new CameraThread(this);
-            thread.setCompute(trackSheets);
-        } else {
-            System.err.println("Camera: Error Thread already launched");
-        }
+  }
+
+  /**
+   * *
+   * The thread does not start, each sub camera has its own native thread.
+   */
+  @Override
+  public void setThread() {
+    if (thread == null) {
+      thread = new CameraThread(this);
+      thread.setCompute(trackSheets);
+    } else {
+      System.err.println("Camera: Error Thread already launched");
     }
-
-    @Override
-    public void grabIR() {
-        try {
-//            System.out.println("Sleeping color cam");
-//            Thread.sleep((long) ((1.0f / (float) colorCamera.frameRate) * 1000f));
-            Thread.sleep((long) ((1.0f / (float) colorCamera.frameRate) * 800f));
-//            System.out.println("awake color cam");
-        } catch (InterruptedException ex) {
-            Logger.getLogger(CameraOpenNI2.class.getName()).log(Level.SEVERE, null, ex);
-        }
+  }
+
+  @Override
+  public void grabIR() {
+    try {
+      // System.out.println("Sleeping color cam");
+      // Thread.sleep((long) ((1.0f / (float) colorCamera.frameRate) * 1000f));
+      Thread.sleep((long) ((1.0f / (float) colorCamera.frameRate) * 800f));
+      // System.out.println("awake color cam");
+    } catch (InterruptedException ex) {
+      Logger.getLogger(CameraOpenNI2.class.getName()).log(Level.SEVERE, null, ex);
     }
-
-    @Override
-    public void grabDepth() {
-        try {
-//            System.out.println("Sleeping color cam");
-//            Thread.sleep((long) ((1.0f / (float) colorCamera.frameRate) * 1000f));
-            Thread.sleep((long) ((1.0f / (float) colorCamera.frameRate) * 2f));
-//          System.out.println("awake color cam");
-        } catch (InterruptedException ex) {
-            Logger.getLogger(CameraOpenNI2.class.getName()).log(Level.SEVERE, null, ex);
-        }
+  }
+
+  @Override
+  public void grabDepth() {
+    try {
+      // System.out.println("Sleeping color cam");
+      // Thread.sleep((long) ((1.0f / (float) colorCamera.frameRate) * 1000f));
+      Thread.sleep((long) ((1.0f / (float) colorCamera.frameRate) * 2f));
+      // System.out.println("awake color cam");
+    } catch (InterruptedException ex) {
+      Logger.getLogger(CameraOpenNI2.class.getName()).log(Level.SEVERE, null, ex);
     }
-
-    // WARNING, in thread  it does not wait for a new image ?
-    @Override
-    public void grabColor() {
-        try {
-         //   System.out.println("Sleeping color cam");
-            Thread.sleep((long) ((1.0f / (float) colorCamera.frameRate) * 2f));
-//            Thread.sleep((long) ((1.0f / (float) colorCamera.frameRate) * 5000f));
-//            System.out.println("awake color cam");
-        } catch (InterruptedException ex) {
-            Logger.getLogger(CameraOpenNI2.class.getName()).log(Level.SEVERE, null, ex);
-        }
-
-// Try to wait for a new timestamp ?
-//        this.getTimeStamp();
+  }
+
+  // WARNING, in thread it does not wait for a new image ?
+  @Override
+  public void grabColor() {
+    try {
+      // System.out.println("Sleeping color cam");
+      Thread.sleep((long) ((1.0f / (float) colorCamera.frameRate) * 2f));
+      // Thread.sleep((long) ((1.0f / (float) colorCamera.frameRate) * 5000f));
+      // System.out.println("awake color cam");
+    } catch (InterruptedException ex) {
+      Logger.getLogger(CameraOpenNI2.class.getName()).log(Level.SEVERE, null, ex);
     }
 
-    // Similar to grabDepth, as grabDepth is disable here
-    private void updateDepth() {
-        if (getActingCamera() == IRCamera) {
-            ((WithTouchInput) depthCamera).newTouchImageWithColor(IRCamera.currentImage);
-            return;
-        }
-        if (getActingCamera() == colorCamera || useColor && colorCamera.currentImage != null) {
-            ((WithTouchInput) depthCamera).newTouchImageWithColor(colorCamera.currentImage);
-            return;
-        }
-        ((WithTouchInput) depthCamera).newTouchImage();
-    }
+    // Try to wait for a new timestamp ?
+    // this.getTimeStamp();
+  }
 
-    // Similar to grabDepth, as grabDepth is disable here
-    private void updateColor() {
-        if (thread != null) {
-            if (!colorCamera.getTrackedSheets().isEmpty()) {
-//                System.out.println("Tracking... " + colorCamera.getTrackedSheets().get(0));
-                thread.setImage(colorCamera.currentImage);
-                thread.compute();
-            }
-        }
+  // Similar to grabDepth, as grabDepth is disable here
+  private void updateDepth() {
+    if (getActingCamera() == IRCamera) {
+      ((WithTouchInput) depthCamera).newTouchImageWithColor(IRCamera.currentImage);
+      return;
     }
-
-    @Override
-    public void setUseDepth(boolean use) {
-        if (use) {
-            depthCamera.setPixelFormat(PixelFormat.OPENNI_2_DEPTH);
-            depthCamera.type = SubCamera.Type.DEPTH;
-            depthCamera.setSize(640, 480);
-            depthCamera.setFrameRate(30);
-        }
-        this.useDepth = use;
+    if (getActingCamera() == colorCamera || useColor && colorCamera.currentImage != null) {
+      ((WithTouchInput) depthCamera).newTouchImageWithColor(colorCamera.currentImage);
+      return;
     }
-
-    @Override
-    public void setUseIR(boolean use) {
-        if (use) {
-            IRCamera.setPixelFormat(PixelFormat.GRAY);
-            IRCamera.type = SubCamera.Type.IR;
-            IRCamera.setSize(640, 480);
-            IRCamera.setFrameRate(30);
-        }
-        this.useIR = use;
+    ((WithTouchInput) depthCamera).newTouchImage();
+  }
+
+  // Similar to grabDepth, as grabDepth is disable here
+  private void updateColor() {
+    if (thread != null) {
+      if (!colorCamera.getTrackedSheets().isEmpty()) {
+        // System.out.println("Tracking... " + colorCamera.getTrackedSheets().get(0));
+        thread.setImage(colorCamera.currentImage);
+        thread.compute();
+      }
     }
-
-    @Override
-    public void setUseColor(boolean use) {
-        if (use) {
-            SubCamera cam = (SubCamera) colorCamera;
-            cam.setPixelFormat(PixelFormat.BGR);
-            cam.type = SubCamera.Type.COLOR;
-            cam.setSize(640, 480);
-            cam.setFrameRate(30);
-        }
-        this.useColor = use;
+  }
+
+  @Override
+  public void setUseDepth(boolean use) {
+    if (use) {
+      depthCamera.setPixelFormat(PixelFormat.OPENNI_2_DEPTH);
+      depthCamera.type = SubCamera.Type.DEPTH;
+      depthCamera.setSize(640, 480);
+      depthCamera.setFrameRate(30);
     }
-
-    @Override
-    protected void internalGrab() throws Exception {
+    this.useDepth = use;
+  }
+
+  @Override
+  public void setUseIR(boolean use) {
+    if (use) {
+      IRCamera.setPixelFormat(PixelFormat.GRAY);
+      IRCamera.type = SubCamera.Type.IR;
+      IRCamera.setSize(640, 480);
+      IRCamera.setFrameRate(30);
     }
+    this.useIR = use;
+  }
+
+  @Override
+  public void setUseColor(boolean use) {
+    if (use) {
+      SubCamera cam = (SubCamera) colorCamera;
+      cam.setPixelFormat(PixelFormat.BGR);
+      cam.type = SubCamera.Type.COLOR;
+      cam.setSize(640, 480);
+      cam.setFrameRate(30);
+    }
+    this.useColor = use;
+  }
 
-    private void initDevice() {
-
-//        ArrayList<SensorType> mDeviceSensors;
-        // initialize OpenNI
-        OpenNI.initialize();
-
-        String uri;
+  @Override
+  protected void internalGrab() throws Exception {
+  }
 
-        java.util.List<org.openni.DeviceInfo> devicesInfo = OpenNI.enumerateDevices();
-        if (devicesInfo.isEmpty()) {
-            JOptionPane.showMessageDialog(null, "No device is connected", "Error", JOptionPane.ERROR_MESSAGE);
-            System.exit(-1);
-        }
-        uri = devicesInfo.get(this.systemNumber).getUri();
-        device = org.openni.Device.open(uri);
-    }
+  private void initDevice() {
 
+    // ArrayList<SensorType> mDeviceSensors;
+    // initialize OpenNI
+    OpenNI.initialize();
 
-    Jedis redis;
-    RedisClient client;
-    VideoEmitter colorVideoEmitter;
-    VideoEmitter depthVideoEmitter;
-    int time = 0;
-    
-    public void sendToRedis(RedisClient client, String keyColor, String keyDepth) {
-        this.client = client;
-        colorVideoEmitter = new VideoEmitter(client, keyColor);
-        depthVideoEmitter = new VideoEmitter(client, keyDepth);
-//        this.redis = redis;
-    }
+    String uri;
 
-    protected void sendColor(byte[] imageData) {
-        colorImageCount++;
-        colorVideoEmitter.sendRawImage(imageData, time++);
+    java.util.List<org.openni.DeviceInfo> devicesInfo = OpenNI.enumerateDevices();
+    if (devicesInfo.isEmpty()) {
+      JOptionPane.showMessageDialog(null, "No device is connected", "Error", JOptionPane.ERROR_MESSAGE);
+      System.exit(-1);
     }
-
-    protected void sendDepth(byte[] imageData) {
-        depthImageCount++;
-        depthVideoEmitter.sendRawImage(imageData, time++);
+    uri = devicesInfo.get(this.systemNumber).getUri();
+    device = org.openni.Device.open(uri);
+  }
+
+  Jedis redis;
+  RedisClient client;
+  VideoEmitter colorVideoEmitter;
+  VideoEmitter depthVideoEmitter;
+  int time = 0;
+
+  public void sendToRedis(RedisClient client, String keyColor, String keyDepth) {
+    this.client = client;
+    colorVideoEmitter = new VideoEmitter(client, keyColor);
+    depthVideoEmitter = new VideoEmitter(client, keyDepth);
+    // this.redis = redis;
+  }
+
+  protected void sendColor(byte[] imageData) {
+    colorImageCount++;
+    colorVideoEmitter.sendRawImage(imageData, time++);
+  }
+
+  protected void sendDepth(byte[] imageData) {
+    depthImageCount++;
+    depthVideoEmitter.sendRawImage(imageData, time++);
+  }
+
+  class FrameListener implements VideoStream.NewFrameListener {
+
+    VideoFrameRef lastFrame;
+    Camera camera;
+
+    public FrameListener(Camera camera) {
+      this.camera = camera;
     }
 
+    private Pointer rawDepthImageData = new Pointer((Pointer) null),
+        rawVideoImageData = new Pointer((Pointer) null),
+        rawIRImageData = new Pointer((Pointer) null);
+    private IplImage rawVideoImage = null;
+    private IplImage rawVideoImageGray = null;
 
-    class FrameListener implements VideoStream.NewFrameListener {
-
-        VideoFrameRef lastFrame;
-        Camera camera;
-
-        public FrameListener(Camera camera) {
-            this.camera = camera;
+    @Override
+    public synchronized void onFrameReady(VideoStream stream) {
+      Instant initUpdate = Instant.now();
+
+      // if (this.camera == colorCamera) {
+      // System.out.println("Getting a color frame.");
+      // } else {
+      // System.out.println("Getting another frame.");
+      // }
+      if (lastFrame != null) {
+        lastFrame.release();
+        lastFrame = null;
+      }
+
+      lastFrame = stream.readFrame();
+      ByteBuffer frameData = lastFrame.getData().order(ByteOrder.LITTLE_ENDIAN);
+
+      // todo this should not change.
+      // make sure we have enough room
+      // if (mImagePixels == null || mImagePixels.length < lastFrame.getWidth() *
+      // lastFrame.getHeight()) {
+      // mImagePixels = new int[lastFrame.getWidth() * lastFrame.getHeight()];
+      // }
+      int deviceWidth = camera.width();
+      int deviceHeight = camera.height();
+
+      // To Java/Processing - Int format
+      // Not used yet
+      if (camera.getPixelFormat() == PixelFormat.RGB
+          || camera.getPixelFormat() == PixelFormat.BGR
+          || camera.getPixelFormat() == PixelFormat.GRAY) {
+        int iplDepth = IPL_DEPTH_8U;
+        int channels = 3;
+        int frameSize = deviceWidth * deviceHeight * channels;
+
+        byte[] frameDataBytes = new byte[frameSize];
+        frameData.get(frameDataBytes);
+        if (rawVideoImage == null || rawVideoImage.width() != deviceWidth || rawVideoImage.height() != deviceHeight) {
+          rawVideoImage = IplImage.create(deviceWidth, deviceHeight, iplDepth, channels);
+          rawVideoImageGray = IplImage.create(deviceWidth, deviceHeight, iplDepth, 1);
         }
-
-        private Pointer rawDepthImageData = new Pointer((Pointer) null),
-                rawVideoImageData = new Pointer((Pointer) null),
-                rawIRImageData = new Pointer((Pointer) null);
-        private IplImage rawVideoImage = null;
-        private IplImage rawVideoImageGray = null;
-
-        @Override
-        public synchronized void onFrameReady(VideoStream stream) {
-            Instant initUpdate = Instant.now();
-
-//            if (this.camera == colorCamera) {
-//                System.out.println("Getting a color frame.");
-//            } else {
-//                System.out.println("Getting another frame.");
-//            }
-            if (lastFrame != null) {
-                lastFrame.release();
-                lastFrame = null;
-            }
-
-            lastFrame = stream.readFrame();
-            ByteBuffer frameData = lastFrame.getData().order(ByteOrder.LITTLE_ENDIAN);
-
-            // todo this should not change. 
-            // make sure we have enough room
-//            if (mImagePixels == null || mImagePixels.length < lastFrame.getWidth() * lastFrame.getHeight()) {
-//                mImagePixels = new int[lastFrame.getWidth() * lastFrame.getHeight()];
-//            }
-            int deviceWidth = camera.width();
-            int deviceHeight = camera.height();
-
-            // To Java/Processing -  Int format
-            // Not used yet
-            if (camera.getPixelFormat() == PixelFormat.RGB
-                    || camera.getPixelFormat() == PixelFormat.BGR
-                    || camera.getPixelFormat() == PixelFormat.GRAY) {
-                int iplDepth = IPL_DEPTH_8U;
-                int channels = 3;
-                int frameSize = deviceWidth * deviceHeight * channels;
-
-                byte[] frameDataBytes = new byte[frameSize];
-                frameData.get(frameDataBytes);
-                if (rawVideoImage == null || rawVideoImage.width() != deviceWidth || rawVideoImage.height() != deviceHeight) {
-                    rawVideoImage = IplImage.create(deviceWidth, deviceHeight, iplDepth, channels);
-                    rawVideoImageGray = IplImage.create(deviceWidth, deviceHeight, iplDepth, 1);
-                }
-                rawVideoImage.getByteBuffer().put(frameDataBytes, 0, frameSize);
-//                opencv_imgproc.cvCvtColor(rawVideoImage, rawVideoImage, COLOR_RGB2BGR);
-//                opencv_imgproc.cvCvtColor(rawVideoImage, rawVideoImageGray, COLOR_BGR2GRAY);
-                camera.updateCurrentImage(rawVideoImage);
-                updateColor();
-//                camera.updateCurrentImage(rawVideoImageGray);
-            }
-
-            if (camera.getPixelFormat() == PixelFormat.OPENNI_2_DEPTH) {
-
-                int iplDepth = IPL_DEPTH_8U;
-                int channels = 2;
-
-                int frameSize = deviceWidth * deviceHeight * channels;
-                // TODO: Handle as a sort buffer instead of byte.
-                byte[] frameDataBytes = new byte[frameSize];
-                frameData.get(frameDataBytes);
-                if (rawVideoImage == null || rawVideoImage.width() != deviceWidth || rawVideoImage.height() != deviceHeight) {
-                    rawVideoImage = IplImage.create(deviceWidth, deviceHeight, iplDepth, channels);
-                }
-                rawVideoImage.getByteBuffer().put(frameDataBytes, 0, frameSize);
-                camera.updateCurrentImage(rawVideoImage);
-                updateDepth();
-
-            }
-            Instant endUpdate = Instant.now();
-//            System.out.println("CAM TREATMENT: " + Duration.between(initUpdate, endUpdate).toMillis() + " milliseconds");
-
+        rawVideoImage.getByteBuffer().put(frameDataBytes, 0, frameSize);
+        // opencv_imgproc.cvCvtColor(rawVideoImage, rawVideoImage, COLOR_RGB2BGR);
+        // opencv_imgproc.cvCvtColor(rawVideoImage, rawVideoImageGray, COLOR_BGR2GRAY);
+        camera.updateCurrentImage(rawVideoImage);
+        updateColor();
+        // camera.updateCurrentImage(rawVideoImageGray);
+      }
+
+      if (camera.getPixelFormat() == PixelFormat.OPENNI_2_DEPTH) {
+
+        int iplDepth = IPL_DEPTH_8U;
+        int channels = 2;
+
+        int frameSize = deviceWidth * deviceHeight * channels;
+        // TODO: Handle as a sort buffer instead of byte.
+        byte[] frameDataBytes = new byte[frameSize];
+        frameData.get(frameDataBytes);
+        if (rawVideoImage == null || rawVideoImage.width() != deviceWidth || rawVideoImage.height() != deviceHeight) {
+          rawVideoImage = IplImage.create(deviceWidth, deviceHeight, iplDepth, channels);
         }
+        rawVideoImage.getByteBuffer().put(frameDataBytes, 0, frameSize);
+        camera.updateCurrentImage(rawVideoImage);
+        updateDepth();
 
-    }
+      }
+      Instant endUpdate = Instant.now();
+      // System.out.println("CAM TREATMENT: " + Duration.between(initUpdate,
+      // endUpdate).toMillis() + " milliseconds");
 
-    @Override
-    public void setAutoWhiteBalance(boolean v) {
-        this.colorStream.getCameraSettings().setAutoWhiteBalanceEnabled(v);
     }
 
-    @Override
-    public void setAutoExposure(boolean v) {
-        this.colorStream.getCameraSettings().setAutoExposureEnabled(v);
-    }
+  }
 
-    @Override
-    public boolean isAutoExposure() {
-        return this.colorStream.getCameraSettings().getAutoExposureEnabled();
-    }
+  @Override
+  public void setAutoWhiteBalance(boolean v) {
+    this.colorStream.getCameraSettings().setAutoWhiteBalanceEnabled(v);
+  }
 
-    @Override
-    public boolean isAutoWhiteBalance() {
-        return this.colorStream.getCameraSettings().getAutoWhiteBalanceEnabled();
-    }
+  @Override
+  public void setAutoExposure(boolean v) {
+    this.colorStream.getCameraSettings().setAutoExposureEnabled(v);
+  }
 
-    public void test() {
-        this.colorStream.getCameraSettings().setAutoExposureEnabled(useIR);
-        this.colorStream.getCameraSettings().setAutoWhiteBalanceEnabled(useIR);
-    }
+  @Override
+  public boolean isAutoExposure() {
+    return this.colorStream.getCameraSettings().getAutoExposureEnabled();
+  }
+
+  @Override
+  public boolean isAutoWhiteBalance() {
+    return this.colorStream.getCameraSettings().getAutoWhiteBalanceEnabled();
+  }
+
+  public void test() {
+    this.colorStream.getCameraSettings().setAutoExposureEnabled(useIR);
+    this.colorStream.getCameraSettings().setAutoWhiteBalanceEnabled(useIR);
+  }
 
-//    public CameraSettings getCameraSettings(){
-//        
-//    }
+  // public CameraSettings getCameraSettings(){
+  //
+  // }
 }
diff --git a/papart/src/fr/inria/papart/utils/ImageUtils.java b/papart/src/fr/inria/papart/utils/ImageUtils.java
index c22973ef..faee44bc 100644
--- a/papart/src/fr/inria/papart/utils/ImageUtils.java
+++ b/papart/src/fr/inria/papart/utils/ImageUtils.java
@@ -38,496 +38,505 @@
  */
 public class ImageUtils {
 
-    public static void byteBufferDepthK1MMtoARGB(ByteBuffer gray, ByteBuffer argb) {
-        byte[] depthRaw = new byte[2];
-        for (int i = 0; i < argb.capacity(); i += 4) {
-            gray.get(depthRaw);
-            int d = (depthRaw[0] & 255) << 8 | (depthRaw[1] & 255);
-            // min depth: 400
-            byte dValue = (byte) ((d - 300.0F) / 3000.0F * 255.0F);
-            argb.put(dValue);
-            argb.put(dValue);
-            argb.put(dValue);
-            argb.put((byte) 255);
-        }
-        argb.rewind();
+  public static void byteBufferDepthK1MMtoARGB(ByteBuffer gray, ByteBuffer argb) {
+    byte[] depthRaw = new byte[2];
+    for (int i = 0; i < argb.capacity(); i += 4) {
+      gray.get(depthRaw);
+      int d = (depthRaw[0] & 255) << 8 | (depthRaw[1] & 255);
+      // min depth: 400
+      byte dValue = (byte) ((d - 300.0F) / 3000.0F * 255.0F);
+      argb.put(dValue);
+      argb.put(dValue);
+      argb.put(dValue);
+      argb.put((byte) 255);
     }
-
-    // Do not use.
-    @Deprecated
-    public static Mat createHomography(List<PVector> in, List<PVector> out) {
-        Mat srcPoints, dstPoints;
-        FloatBuffer srcIdx, dstIdx;
-        int nbPoints = in.size();
-        // Mat homography;
-
-        // TODO: no create map
-        srcPoints = new Mat(in.size(), 1, CV_32FC2);
-        dstPoints = new Mat(in.size(), 1, CV_32FC2);
-
-        srcIdx = srcPoints.createBuffer();
-        dstIdx = dstPoints.createBuffer();
-
-        for (int i = 0; i < in.size(); i++) {
-          if (in.get(i).x == Float.NaN || in.get(i).y == Float.NaN){ 
-            return HomographyCreator.INVALID_HOMOGRAPHY;
-          }
-
-          srcIdx.put(i, in.get(i).x);
-          srcIdx.put(i + nbPoints, in.get(i).y);
-
-          dstIdx.put(i, out.get(i).x);
-          dstIdx.put(i + nbPoints, out.get(i).y);
-        }
-        Mat homography2 = findHomography(srcPoints, dstPoints);
-       
-        if(homography2.empty()){
-          return HomographyCreator.INVALID_HOMOGRAPHY;
-        }
-//        opencv_imgproc.cvGetPerspectiveTransform(cpd, cpd1, srcPoints) // 
-        return homography2;
+    argb.rewind();
+  }
+
+  // Do not use.
+  @Deprecated
+  public static Mat createHomography(List<PVector> in, List<PVector> out) {
+    Mat srcPoints, dstPoints;
+    FloatBuffer srcIdx, dstIdx;
+    int nbPoints = in.size();
+    // Mat homography;
+
+    // TODO: no create map
+    srcPoints = new Mat(in.size(), 1, CV_32FC2);
+    dstPoints = new Mat(in.size(), 1, CV_32FC2);
+
+    srcIdx = srcPoints.createBuffer();
+    dstIdx = dstPoints.createBuffer();
+
+    for (int i = 0; i < in.size(); i++) {
+      if (in.get(i).x == Float.NaN || in.get(i).y == Float.NaN) {
+        return HomographyCreator.INVALID_HOMOGRAPHY;
+      }
+
+      srcIdx.put(i, in.get(i).x);
+      srcIdx.put(i + nbPoints, in.get(i).y);
+
+      dstIdx.put(i, out.get(i).x);
+      dstIdx.put(i + nbPoints, out.get(i).y);
     }
+    Mat homography2 = findHomography(srcPoints, dstPoints);
 
-    //  Do not use.
-    @Deprecated
-    public static Mat createHomography(PVector[] in, PVector[] out) {
-        Mat srcPoints, dstPoints;
-        FloatBuffer srcIdx, dstIdx;
-        int nbPoints = in.length;
-        Mat homography;
-        // TODO: no create map
-        srcPoints = new Mat(in.length, 1, CV_32FC2);
-        dstPoints = new Mat(in.length, 1, CV_32FC2);
-        // homography = new Mat(3, 3, CV_32FC1);
-
-        srcPoints = new Mat(in.length, 1, CV_32FC2);
-        dstPoints = new Mat(in.length, 1, CV_32FC2);
-
-        srcIdx = srcPoints.createBuffer();
-        dstIdx = dstPoints.createBuffer();
-  
-        
-        for (int i = 0; i < in.length; i++) {
-          if (in[i].x == Float.NaN || in[i].y == Float.NaN){ 
-            return HomographyCreator.INVALID_HOMOGRAPHY;
-          }
-          srcIdx.put(i, in[i].x);
-          srcIdx.put(i + nbPoints, in[i].y);
-
-          dstIdx.put(i, out[i].x);
-          dstIdx.put(i + nbPoints, out[i].y);
-        }
- 
-        homography = findHomography(srcPoints, dstPoints); // , homography);
-
-        if(homography.empty()){
-          return HomographyCreator.INVALID_HOMOGRAPHY;
-        }
-        return homography;
+    if (homography2.empty()) {
+      return HomographyCreator.INVALID_HOMOGRAPHY;
     }
-
-    public static void createAnaglyph(PImage imgL, PImage imgR, PImage imgOut) {
-        imgL.loadPixels();
-        imgR.loadPixels();
-        imgOut.loadPixels();
-        int[] pL = imgL.pixels;
-        int[] pR = imgR.pixels;
-        int[] pO = imgOut.pixels;
-        for (int i = 0; i < pL.length; i++) {
-            pO[i] = (pR[i] >> 16) << 16 | (pL[i] >> 8) & 255 << 8 | pL[i] & 255;
-            //            pO[i] = pL[i];
-        }
-        imgOut.updatePixels();
-        //        imgL.updatePixels();
+    // opencv_imgproc.cvGetPerspectiveTransform(cpd, cpd1, srcPoints) //
+    return homography2;
+  }
+
+  // Do not use.
+  @Deprecated
+  public static Mat createHomography(PVector[] in, PVector[] out) {
+    Mat srcPoints, dstPoints;
+    FloatBuffer srcIdx, dstIdx;
+    int nbPoints = in.length;
+    Mat homography;
+    // TODO: no create map
+    srcPoints = new Mat(in.length, 1, CV_32FC2);
+    dstPoints = new Mat(in.length, 1, CV_32FC2);
+    // homography = new Mat(3, 3, CV_32FC1);
+
+    srcPoints = new Mat(in.length, 1, CV_32FC2);
+    dstPoints = new Mat(in.length, 1, CV_32FC2);
+
+    srcIdx = srcPoints.createBuffer();
+    dstIdx = dstPoints.createBuffer();
+
+    for (int i = 0; i < in.length; i++) {
+      if (in[i].x == Float.NaN || in[i].y == Float.NaN) {
+        return HomographyCreator.INVALID_HOMOGRAPHY;
+      }
+      srcIdx.put(i, in[i].x);
+      srcIdx.put(i + nbPoints, in[i].y);
+
+      dstIdx.put(i, out[i].x);
+      dstIdx.put(i + nbPoints, out[i].y);
     }
 
-    // TODO wtf
-    private static byte[] kinectByteArray = null;
-
-    public static void IplImageToPImageKinect(IplImage img, boolean RGB, PImage ret) {
-        //        conversionCount++;
-        //        if (conversionCount % 30 == 0) {
-        //            System.gc();
-        //        }
-        assert (img.width() == ret.width);
-        assert (img.height() == ret.height);
-        //        BufferedImage bimg = new BufferedImage();
-        if (img.nChannels() == 3) {
-//            System.out.println("3 channels");
-            ByteBuffer buff = img.getByteBuffer();
-            //  PImage ret = new PImage(img.width(), img.height(), PApplet.RGB);
-            ret.loadPixels();
-            if (RGB) {
-                for (int i = 0; i < img.width() * img.height(); i++) {
-                    int offset = i * 3;
-                    //            ret.pixels[i] = applet.color(buff.get(offset + 0) & 0xff, buff.get(offset + 1) & 0xFF, buff.get(offset + 2) & 0xff);
-                    ret.pixels[i] = (buff.get(offset) & 255) << 16 | (buff.get(offset + 1) & 255) << 8 | (buff.get(offset + 2) & 255);
-                }
-            } else {
-                for (int i = 0; i < img.width() * img.height(); i++) {
-                    int offset = i * 3;
-                    //            ret.pixels[i] = applet.color(buff.get(offset + 0) & 0xff, buff.get(offset + 1) & 0xFF, buff.get(offset + 2) & 0xff);
-                    ret.pixels[i] = (buff.get(offset + 2) & 255) << 16 | (buff.get(offset + 1) & 255) << 8 | (buff.get(offset) & 255);
-                }
-            }
-        } else if (img.nChannels() == 1) {
-            ////////////// Kinect Depth //////////////
-            ByteBuffer buff = img.getByteBuffer();
-            if (kinectByteArray == null) {
-                kinectByteArray = new byte[2 * img.width() * img.height()];
-            }
-            //                else {
-            //                    Arrays.fill(kinectByteArray, (byte) 0);
-            //                }
-            buff.get(kinectByteArray);
-            for (int i = 0; i < img.width() * img.height() * 2; i += 2) {
-                int d = (kinectByteArray[i] & 255) << 8 | (kinectByteArray[i + 1] & 255);
-                ret.pixels[i / 2] = d;
-                //                    ret.pixels[i] =
-                //                            (buff.get(i) & 0xFF) << 16
-                //                            | (buff.get(i) & 0xFF) << 8
-                //                            | (buff.get(i) & 0xFF);
-            }
-        }
-        //        buff = null;
-        ret.updatePixels();
-    }
+    homography = findHomography(srcPoints, dstPoints); // , homography);
 
-    public static void byteBufferZ16toARGB(ByteBuffer gray, ByteBuffer argb) {
-        byte[] tmpArr = new byte[2];
-        gray.rewind();
-        for (int i = 0; i < argb.capacity(); i += 4) {
-            gray.get(tmpArr);
-            argb.put(tmpArr[0]);
-            argb.put(tmpArr[1]);
-            argb.put((byte) 128);
-            argb.put((byte) 255);
-        }
-        argb.rewind();
+    if (homography.empty()) {
+      return HomographyCreator.INVALID_HOMOGRAPHY;
     }
-
-    // For OpenNI -- test
-    public static void byteBufferShorttoARGB(ByteBuffer gray, ByteBuffer argb) {
-        byte[] depthRaw = new byte[2];
-        for (int i = 0; i < argb.capacity(); i += 4) {
-            gray.get(depthRaw);
-            int d = (depthRaw[0] & 255) << 8 | (depthRaw[1] & 255);
-            // min depth: 400
-            byte dValue = (byte) ((d - 300.0F) / 3000.0F * 255.0F);
-            argb.put(dValue);
-            argb.put(dValue);
-            argb.put(dValue);
-            argb.put((byte) 255);
-        }
-        argb.rewind();
+    return homography;
+  }
+
+  public static void createAnaglyph(PImage imgL, PImage imgR, PImage imgOut) {
+    imgL.loadPixels();
+    imgR.loadPixels();
+    imgOut.loadPixels();
+    int[] pL = imgL.pixels;
+    int[] pR = imgR.pixels;
+    int[] pO = imgOut.pixels;
+    for (int i = 0; i < pL.length; i++) {
+      pO[i] = (pR[i] >> 16) << 16 | (pL[i] >> 8) & 255 << 8 | pL[i] & 255;
+      // pO[i] = pL[i];
     }
-
-    public static void byteBufferGRAYtoARGB(ByteBuffer gray, ByteBuffer argb) {
-        byte[] tmpArr = new byte[1];
-        for (int i = 0; i < gray.capacity(); i++) {
-            gray.get(tmpArr);
-            argb.put(tmpArr[0]);
-            argb.put(tmpArr[0]);
-            argb.put(tmpArr[0]);
-            argb.put((byte) 255);
+    imgOut.updatePixels();
+    // imgL.updatePixels();
+  }
+
+  // TODO wtf
+  private static byte[] kinectByteArray = null;
+
+  public static void IplImageToPImageKinect(IplImage img, boolean RGB, PImage ret) {
+    // conversionCount++;
+    // if (conversionCount % 30 == 0) {
+    // System.gc();
+    // }
+    assert (img.width() == ret.width);
+    assert (img.height() == ret.height);
+    // BufferedImage bimg = new BufferedImage();
+    if (img.nChannels() == 3) {
+      // System.out.println("3 channels");
+      ByteBuffer buff = img.getByteBuffer();
+      // PImage ret = new PImage(img.width(), img.height(), PApplet.RGB);
+      ret.loadPixels();
+      if (RGB) {
+        for (int i = 0; i < img.width() * img.height(); i++) {
+          int offset = i * 3;
+          // ret.pixels[i] = applet.color(buff.get(offset + 0) & 0xff, buff.get(offset +
+          // 1) & 0xFF, buff.get(offset + 2) & 0xff);
+          ret.pixels[i] = (buff.get(offset) & 255) << 16 | (buff.get(offset + 1) & 255) << 8
+              | (buff.get(offset + 2) & 255);
         }
-        argb.rewind();
+      } else {
+        for (int i = 0; i < img.width() * img.height(); i++) {
+          int offset = i * 3;
+          // ret.pixels[i] = applet.color(buff.get(offset + 0) & 0xff, buff.get(offset +
+          // 1) & 0xFF, buff.get(offset + 2) & 0xff);
+          ret.pixels[i] = (buff.get(offset + 2) & 255) << 16 | (buff.get(offset + 1) & 255) << 8
+              | (buff.get(offset) & 255);
+        }
+      }
+    } else if (img.nChannels() == 1) {
+      ////////////// Kinect Depth //////////////
+      ByteBuffer buff = img.getByteBuffer();
+      if (kinectByteArray == null) {
+        kinectByteArray = new byte[2 * img.width() * img.height()];
+      }
+      // else {
+      // Arrays.fill(kinectByteArray, (byte) 0);
+      // }
+      buff.get(kinectByteArray);
+      for (int i = 0; i < img.width() * img.height() * 2; i += 2) {
+        int d = (kinectByteArray[i] & 255) << 8 | (kinectByteArray[i + 1] & 255);
+        ret.pixels[i / 2] = d;
+        // ret.pixels[i] =
+        // (buff.get(i) & 0xFF) << 16
+        // | (buff.get(i) & 0xFF) << 8
+        // | (buff.get(i) & 0xFF);
+      }
     }
-
-    public static void remapImageIpl(Mat homography, IplImage imgIn, IplImage imgOut) {
-//        System.out.println("cam: " + imgIn.width() + " " + imgIn.height() + " " + imgIn.depth());
-//        System.out.println("extr: " + imgOut.width() + " " + imgOut.height() + " " + imgOut.depth());
-       // cvWarpPerspective(imgIn, imgOut, homography);
-
-        warpPerspective(new Mat(imgIn), new Mat(imgOut),
-                        homography, new Size(imgOut.width(), imgOut.height()));
-        // opencv_imgproc.CV_INTER_LINEAR ); //                opencv_imgproc.CV_WARP_FILL_OUTLIERS);
-        //                getFillColor());
+    // buff = null;
+    ret.updatePixels();
+  }
+
+  public static void byteBufferZ16toARGB(ByteBuffer gray, ByteBuffer argb) {
+    byte[] tmpArr = new byte[2];
+    gray.rewind();
+    for (int i = 0; i < argb.capacity(); i += 4) {
+      gray.get(tmpArr);
+      argb.put(tmpArr[0]);
+      argb.put(tmpArr[1]);
+      argb.put((byte) 128);
+      argb.put((byte) 255);
     }
-
-    public static IplImage createImageFrom(IplImage imgIn, PImage Pout) {
-        // TODO: avoid this creation !!
-        CvSize outSize = new CvSize();
-        outSize.width(Pout.width);
-        outSize.height(Pout.height);
-        IplImage imgOut = cvCreateImage(outSize, // size
-                imgIn.depth(), // depth
-                imgIn.nChannels());
-        //        imgIn.w
-        return imgOut;
+    argb.rewind();
+  }
+
+  // For OpenNI -- test
+  public static void byteBufferShorttoARGB(ByteBuffer gray, ByteBuffer argb) {
+    byte[] depthRaw = new byte[2];
+    for (int i = 0; i < argb.capacity(); i += 4) {
+      gray.get(depthRaw);
+      int d = (depthRaw[0] & 255) << 8 | (depthRaw[1] & 255);
+      // min depth: 400
+      byte dValue = (byte) ((d - 300.0F) / 3000.0F * 255.0F);
+      argb.put(dValue);
+      argb.put(dValue);
+      argb.put(dValue);
+      argb.put((byte) 255);
     }
-
-    public static IplImage createImageFrom(IplImage imgIn) {
-        // TODO: avoid this creation !!
-        CvSize outSize = new CvSize();
-        outSize.width(imgIn.width());
-        outSize.height(imgIn.height());
-        IplImage imgOut = cvCreateImage(outSize, // size
-                imgIn.depth(), // depth
-                imgIn.nChannels());
-        //        imgIn.w
-        return imgOut;
+    argb.rewind();
+  }
+
+  public static void byteBufferGRAYtoARGB(ByteBuffer gray, ByteBuffer argb) {
+    byte[] tmpArr = new byte[1];
+    for (int i = 0; i < gray.capacity(); i++) {
+      gray.get(tmpArr);
+      argb.put(tmpArr[0]);
+      argb.put(tmpArr[0]);
+      argb.put(tmpArr[0]);
+      argb.put((byte) 255);
     }
-
-    public static IplImage createImageFrom(PImage in) {
-        // TODO: avoid this creation !!
-        CvSize outSize = new CvSize();
-        outSize.width(in.width);
-        outSize.height(in.height);
-//        System.out.println("inputImage to create an IPL:" + in.width + " " + in.height + " " + in.format);
-        IplImage imgOut = null;
-        if (in.format == PConstants.RGB) {
-            imgOut = cvCreateImage(outSize, IPL_DEPTH_8U, // depth
-                    3);
-        }
-        if (in.format == PConstants.ALPHA || in.format == PConstants.GRAY) {
-            imgOut = cvCreateImage(outSize, IPL_DEPTH_8U, // depth
-                    1);
-        }
-        if (in.format == PConstants.ARGB) {
-            imgOut = cvCreateImage(outSize, IPL_DEPTH_8U, // depth
-                    4);
-        }
-        //        imgIn.w
-        return imgOut;
+    argb.rewind();
+  }
+
+  public static void remapImageIpl(Mat homography, IplImage imgIn, IplImage imgOut) {
+    // System.out.println("cam: " + imgIn.width() + " " + imgIn.height() + " " +
+    // imgIn.depth());
+    // System.out.println("extr: " + imgOut.width() + " " + imgOut.height() + " " +
+    // imgOut.depth());
+    // cvWarpPerspective(imgIn, imgOut, homography);
+
+    warpPerspective(new Mat(imgIn), new Mat(imgOut),
+        homography, new Size(imgOut.width(), imgOut.height()));
+    // opencv_imgproc.CV_INTER_LINEAR ); // opencv_imgproc.CV_WARP_FILL_OUTLIERS);
+    // getFillColor());
+  }
+
+  public static IplImage createImageFrom(IplImage imgIn, PImage Pout) {
+    // TODO: avoid this creation !!
+    CvSize outSize = new CvSize();
+    outSize.width(Pout.width);
+    outSize.height(Pout.height);
+    IplImage imgOut = cvCreateImage(outSize, // size
+        imgIn.depth(), // depth
+        imgIn.nChannels());
+    // imgIn.w
+    return imgOut;
+  }
+
+  public static IplImage createImageFrom(IplImage imgIn) {
+    // TODO: avoid this creation !!
+    CvSize outSize = new CvSize();
+    outSize.width(imgIn.width());
+    outSize.height(imgIn.height());
+    IplImage imgOut = cvCreateImage(outSize, // size
+        imgIn.depth(), // depth
+        imgIn.nChannels());
+    // imgIn.w
+    return imgOut;
+  }
+
+  public static IplImage createImageFrom(PImage in) {
+    // TODO: avoid this creation !!
+    CvSize outSize = new CvSize();
+    outSize.width(in.width);
+    outSize.height(in.height);
+    // System.out.println("inputImage to create an IPL:" + in.width + " " +
+    // in.height + " " + in.format);
+    IplImage imgOut = null;
+    if (in.format == PConstants.RGB) {
+      imgOut = cvCreateImage(outSize, IPL_DEPTH_8U, // depth
+          3);
     }
-
-    public static void byteBufferBRGtoARGB(ByteBuffer bgr, ByteBuffer argb) {
-        byte[] tmpArr = new byte[3];
-        for (int i = 0; i < bgr.capacity(); i += 3) {
-            bgr.get(tmpArr);
-            argb.put(tmpArr[2]);
-            argb.put(tmpArr[1]);
-            argb.put(tmpArr[0]);
-            argb.put((byte) 255);
-        }
-        argb.rewind();
+    if (in.format == PConstants.ALPHA || in.format == PConstants.GRAY) {
+      imgOut = cvCreateImage(outSize, IPL_DEPTH_8U, // depth
+          1);
     }
-
-    /**
-     *
-     * Deprecated
-     */
-    //    static public void PImageToIplImage(PImage src, IplImage dst) {
-    //        dst.copyFrom((BufferedImage) src.getImage());
-    //    }
-    public static void PImageToIplImage2(IplImage img, boolean RGB, PImage ret) {
-        ByteBuffer buff = img.getByteBuffer();
-        ret.loadPixels();
-        if (RGB) {
-            for (int i = 0; i < img.width() * img.height(); i++) {
-                int offset = i * 3;
-                ret.pixels[i] = (buff.get(offset) & 255) << 16 | (buff.get(offset + 1) & 255) << 8 | (buff.get(offset + 2) & 255);
-            }
-        } else {
-            for (int i = 0; i < img.width() * img.height(); i++) {
-                int offset = i * 3;
-                ret.pixels[i] = (buff.get(offset + 2) & 255) << 16 | (buff.get(offset + 1) & 255) << 8 | (buff.get(offset) & 255);
-            }
-        }
-        ret.updatePixels();
+    if (in.format == PConstants.ARGB) {
+      imgOut = cvCreateImage(outSize, IPL_DEPTH_8U, // depth
+          4);
     }
-
-    public static IplImage createNewSizeImageFrom(IplImage imgIn, int width, int height) {
-        // TODO: avoid this creation !!
-        CvSize outSize = new CvSize();
-        outSize.width(width);
-        outSize.height(height);
-        IplImage imgOut = cvCreateImage(outSize, // size
-                imgIn.depth(), // depth
-                imgIn.nChannels());
-        //        imgIn.w
-        return imgOut;
+    // imgIn.w
+    return imgOut;
+  }
+
+  public static void byteBufferBRGtoARGB(ByteBuffer bgr, ByteBuffer argb) {
+    byte[] tmpArr = new byte[3];
+    for (int i = 0; i < bgr.capacity(); i += 3) {
+      bgr.get(tmpArr);
+      argb.put(tmpArr[2]);
+      argb.put(tmpArr[1]);
+      argb.put(tmpArr[0]);
+      argb.put((byte) 255);
     }
-
-    public static void byteBufferRGBtoARGB(ByteBuffer bgr, ByteBuffer argb) {
-        byte[] tmpArr = new byte[3];
-        for (int i = 0; i < bgr.capacity(); i += 3) {
-            bgr.get(tmpArr);
-            argb.put(tmpArr[0]);
-            argb.put(tmpArr[1]);
-            argb.put(tmpArr[2]);
-            argb.put((byte) 255);
-        }
-        argb.rewind();
+    argb.rewind();
+  }
+
+  /**
+   *
+   * Deprecated
+   */
+  // static public void PImageToIplImage(PImage src, IplImage dst) {
+  // dst.copyFrom((BufferedImage) src.getImage());
+  // }
+  public static void PImageToIplImage2(IplImage img, boolean RGB, PImage ret) {
+    ByteBuffer buff = img.getByteBuffer();
+    ret.loadPixels();
+    if (RGB) {
+      for (int i = 0; i < img.width() * img.height(); i++) {
+        int offset = i * 3;
+        ret.pixels[i] = (buff.get(offset) & 255) << 16 | (buff.get(offset + 1) & 255) << 8
+            | (buff.get(offset + 2) & 255);
+      }
+    } else {
+      for (int i = 0; i < img.width() * img.height(); i++) {
+        int offset = i * 3;
+        ret.pixels[i] = (buff.get(offset + 2) & 255) << 16 | (buff.get(offset + 1) & 255) << 8
+            | (buff.get(offset) & 255);
+      }
     }
-
-    @Deprecated
-    public static void remapImage(PVector[] in, PVector[] out, IplImage imgIn, IplImage imgTmp, PImage Pout) {
-        Mat srcPoints;
-        Mat dstPoints;
-        int nbPoints = in.length;
-        Mat homography;
-        // TODO: no create map
-        srcPoints = new Mat(2, in.length, CV_32FC1);
-        dstPoints = new Mat(2, in.length, CV_32FC1);
-        // homography = new Mat(3, 3, CV_32FC1);
-
-        FloatIndexer srcPointsIdx = srcPoints.createIndexer(); 
-        FloatIndexer dstPointsIdx = dstPoints.createIndexer(); 
-        
-        for (int i = 0; i < in.length; i++) {
-            srcPointsIdx.put(i, in[i].x);
-            srcPointsIdx.put(i + nbPoints, in[i].y);
-            dstPointsIdx.put(i, out[i].x);
-            dstPointsIdx.put(i + nbPoints, out[i].y);
-        }
-
-        homography = findHomography(srcPoints, dstPoints);
-
-        //       It is better to use : GetPerspectiveTransform
-        // cvWarpPerspective(imgIn, imgTmp, homography);
-        warpPerspective(new Mat(imgIn), new Mat(imgTmp),
-                        homography, new Size(imgTmp.width(), imgTmp.height()));
-        // opencv_imgproc.CV_INTER_LINEAR ); //                opencv_imgproc.CV_WARP_FILL_OUTLIERS);
-        //                getFillColor());
-        IplImageToPImage(imgTmp, false, Pout);
+    ret.updatePixels();
+  }
+
+  public static IplImage createNewSizeImageFrom(IplImage imgIn, int width, int height) {
+    // TODO: avoid this creation !!
+    CvSize outSize = new CvSize();
+    outSize.width(width);
+    outSize.height(height);
+    IplImage imgOut = cvCreateImage(outSize, // size
+        imgIn.depth(), // depth
+        imgIn.nChannels());
+    // imgIn.w
+    return imgOut;
+  }
+
+  public static void byteBufferRGBtoARGB(ByteBuffer bgr, ByteBuffer argb) {
+    byte[] tmpArr = new byte[3];
+    for (int i = 0; i < bgr.capacity(); i += 3) {
+      bgr.get(tmpArr);
+      argb.put(tmpArr[0]);
+      argb.put(tmpArr[1]);
+      argb.put(tmpArr[2]);
+      argb.put((byte) 255);
     }
-
-    public static void remapImage(Mat homography, IplImage imgIn, IplImage imgTmp, PImage Pout) {
-        remapImage(homography, imgIn, imgTmp, Pout, false);
+    argb.rewind();
+  }
+
+  @Deprecated
+  public static void remapImage(PVector[] in, PVector[] out, IplImage imgIn, IplImage imgTmp, PImage Pout) {
+    Mat srcPoints;
+    Mat dstPoints;
+    int nbPoints = in.length;
+    Mat homography;
+    // TODO: no create map
+    srcPoints = new Mat(2, in.length, CV_32FC1);
+    dstPoints = new Mat(2, in.length, CV_32FC1);
+    // homography = new Mat(3, 3, CV_32FC1);
+
+    FloatIndexer srcPointsIdx = srcPoints.createIndexer();
+    FloatIndexer dstPointsIdx = dstPoints.createIndexer();
+
+    for (int i = 0; i < in.length; i++) {
+      srcPointsIdx.put(i, in[i].x);
+      srcPointsIdx.put(i + nbPoints, in[i].y);
+      dstPointsIdx.put(i, out[i].x);
+      dstPointsIdx.put(i + nbPoints, out[i].y);
     }
 
-    public static void remapImage(Mat homography, IplImage imgIn, IplImage imgTmp, PImage Pout, boolean isRgb) {
-        // cvWarpPerspective(imgIn, imgTmp, homography);
-
-        Size outSize = new Size(imgTmp.width(), imgTmp.height());
-
-        warpPerspective(new Mat(imgIn), new Mat(imgTmp), homography, outSize);
-
-        // opencv_imgproc.CV_INTER_LINEAR ); //                opencv_imgproc.CV_WARP_FILL_OUTLIERS);
-        //                getFillColor());
-        IplImageToPImage(imgTmp, isRgb, Pout);
+    homography = findHomography(srcPoints, dstPoints);
+
+    // It is better to use : GetPerspectiveTransform
+    // cvWarpPerspective(imgIn, imgTmp, homography);
+    warpPerspective(new Mat(imgIn), new Mat(imgTmp),
+        homography, new Size(imgTmp.width(), imgTmp.height()));
+    // opencv_imgproc.CV_INTER_LINEAR ); // opencv_imgproc.CV_WARP_FILL_OUTLIERS);
+    // getFillColor());
+    IplImageToPImage(imgTmp, false, Pout);
+  }
+
+  public static void remapImage(Mat homography, IplImage imgIn, IplImage imgTmp, PImage Pout) {
+    remapImage(homography, imgIn, imgTmp, Pout, false);
+  }
+
+  public static void remapImage(Mat homography, IplImage imgIn, IplImage imgTmp, PImage Pout, boolean isRgb) {
+    // cvWarpPerspective(imgIn, imgTmp, homography);
+
+    Size outSize = new Size(imgTmp.width(), imgTmp.height());
+
+    warpPerspective(new Mat(imgIn), new Mat(imgTmp), homography, outSize);
+
+    // opencv_imgproc.CV_INTER_LINEAR ); // opencv_imgproc.CV_WARP_FILL_OUTLIERS);
+    // getFillColor());
+    IplImageToPImage(imgTmp, isRgb, Pout);
+  }
+
+  // TO USE INSIDE THE DRAW FUNCTION
+  // TODO: Experimental -> To validate...
+  // static public Texture createTextureFrom(PApplet parent, IplImage img) {
+  // Texture tex = null;
+  //
+  // // We suppose... Depth = 3 : BGR and Depth = 4 : RGBA (even though it is
+  // written ARGB for Processing...)
+  // if (img.nChannels() == 3) {
+  // tex = new Texture(img.width(), img.height(), PApplet.RGB);
+  // }
+  // if (img.nChannels() == 4) {
+  // tex = new Texture(img.width(), img.height(), PApplet.ARGB);
+  // }
+  // return tex;
+  // }
+  public static void updateTexture(IplImage img, Texture tex) {
+    System.out.println("Update Texture broken ? May Require CustomTexture...");
+    // if (img.nChannels() == 3) {
+    // tex.putBuffer(GL.GL_BGR, GL.GL_UNSIGNED_BYTE, img.getIntBuffer());
+    // }
+    // if (img.nChannels() == 4) {
+    // tex.putBuffer(GL.GL_RGBA, GL.GL_UNSIGNED_BYTE, img.getIntBuffer());
+    // }
+  }
+
+  public static void byteBufferDepthK2toARGB(ByteBuffer gray, ByteBuffer argb) {
+    FloatBuffer floatGray = gray.asFloatBuffer();
+    float[] tmpArr = new float[1];
+    for (int i = 0; i < argb.capacity(); i += 4) {
+      floatGray.get(tmpArr);
+      // 8 meters
+      byte v = (byte) (tmpArr[0] / 8000 * 255);
+      // byte v = (byte) (tmpArr[0] << 8 | tmpArr[1]);
+      argb.put((byte) (v));
+      argb.put((byte) (v));
+      argb.put((byte) (v));
+      argb.put((byte) 255);
     }
+    argb.rewind();
+  }
 
-    // TO USE INSIDE THE DRAW FUNCTION
-    // TODO: Experimental -> To validate...
-    //    static public Texture createTextureFrom(PApplet parent, IplImage img) {
-    //        Texture tex = null;
-    //
-    //        // We suppose...  Depth = 3 : BGR and Depth = 4 :  RGBA  (even though it is written ARGB for Processing...)
-    //        if (img.nChannels() == 3) {
-    //            tex = new Texture(img.width(), img.height(), PApplet.RGB);
-    //        }
-    //        if (img.nChannels() == 4) {
-    //            tex = new Texture(img.width(), img.height(), PApplet.ARGB);
-    //        }
-    //        return tex;
-    //    }
-    public static void updateTexture(IplImage img, Texture tex) {
-        System.out.println("Update Texture broken ? May Require CustomTexture...");
-        //        if (img.nChannels() == 3) {
-        //            tex.putBuffer(GL.GL_BGR, GL.GL_UNSIGNED_BYTE, img.getIntBuffer());
-        //        }
-        //        if (img.nChannels() == 4) {
-        //            tex.putBuffer(GL.GL_RGBA, GL.GL_UNSIGNED_BYTE, img.getIntBuffer());
-        //        }
-    }
+  // TODO: clean all this !
+  public static void IplImageToPImage(IplImage img, PApplet applet, boolean RGB, PImage ret) {
+    IplImageToPImage(img, RGB, ret);
+  }
 
-    public static void byteBufferDepthK2toARGB(ByteBuffer gray, ByteBuffer argb) {
-        FloatBuffer floatGray = gray.asFloatBuffer();
-        float[] tmpArr = new float[1];
-        for (int i = 0; i < argb.capacity(); i += 4) {
-            floatGray.get(tmpArr);
-            // 8 meters
-            byte v = (byte) (tmpArr[0] / 8000 * 255);
-            //            byte v = (byte) (tmpArr[0] << 8 | tmpArr[1]);
-            argb.put((byte) (v));
-            argb.put((byte) (v));
-            argb.put((byte) (v));
-            argb.put((byte) 255);
-        }
-        argb.rewind();
+  public static void IplImageToPImage(IplImage img, Camera.PixelFormat format, PImage ret) {
+    if (format == Camera.PixelFormat.RGB) {
+      IplImageToPImage(img, true, ret);
     }
-
-    // TODO: clean all this !
-    public static void IplImageToPImage(IplImage img, PApplet applet, boolean RGB, PImage ret) {
-        IplImageToPImage(img, RGB, ret);
+    if (format == Camera.PixelFormat.BGR) {
+      IplImageToPImage(img, false, ret);
     }
-
-    public static void IplImageToPImage(IplImage img, Camera.PixelFormat format, PImage ret) {
-        if (format == Camera.PixelFormat.RGB) {
-            IplImageToPImage(img, true, ret);
-        }
-        if (format == Camera.PixelFormat.BGR) {
-            IplImageToPImage(img, false, ret);
-        }
-        if (format == Camera.PixelFormat.GRAY) {
-            IplImageToPImage(img, false, ret);
-        }
+    if (format == Camera.PixelFormat.GRAY) {
+      IplImageToPImage(img, false, ret);
     }
+  }
+
+  public static void IplImageToPImage(IplImage img, PImage ret) {
+    IplImageToPImage(img, true, ret);
+  }
+
+  /**
+   * Buggy with 3 channels and some sizes... very strange.
+   *
+   * @param img
+   * @param RGB
+   * @param ret
+   */
+  public static void IplImageToPImage(IplImage img, boolean RGB, PImage ret) {
+    // conversionCount++;
+    // if (conversionCount % 600 == 0) {
+    // System.gc();
+    // }
+    assert (img.width() == ret.width);
+    assert (img.height() == ret.height);
+    ret.loadPixels();
+    ByteBuffer buff = img.getByteBuffer();
+
+    int w = img.widthStep();
+    int nChannels = img.nChannels();
+    byte[] lineArray = new byte[w];
+    int k = 0;
+    for (int j = 0; j < img.height(); j++) {
+      buff.get(lineArray);
+      if (img.nChannels() == 1) {
+        for (int i = 0; i < img.width(); i++) {
+          byte r = lineArray[i];
+          byte g = r;
+          byte b = r;
+          ret.pixels[k++] = (r & 255) << 16 | (g & 255) << 8 | (b & 255);
+        }
+      } else {
 
-    public static void IplImageToPImage(IplImage img, PImage ret) {
-        IplImageToPImage(img, true, ret);
-    }
+        if (RGB) {
+          for (int i = 0; i < img.width(); i++) {
+            byte r = lineArray[i * nChannels + 0];
+            byte g = lineArray[i * nChannels + 1];
+            byte b = lineArray[i * nChannels + 2];
 
-    /**
-     * Buggy with 3 channels and some sizes... very strange.
-     *
-     * @param img
-     * @param RGB
-     * @param ret
-     */
-    public static void IplImageToPImage(IplImage img, boolean RGB, PImage ret) {
-        //        conversionCount++;
-        //        if (conversionCount % 600 == 0) {
-        //            System.gc();
-        //        }
-        assert (img.width() == ret.width);
-        assert (img.height() == ret.height);
-        ret.loadPixels();
-        ByteBuffer buff = img.getByteBuffer();
-
-        int w = img.widthStep();
-        int nChannels = img.nChannels();
-        byte[] lineArray = new byte[w];
-        int k = 0;
-        for (int j = 0; j < img.height(); j++) {
-            buff.get(lineArray);
-            if (img.nChannels() == 1) {
-                for (int i = 0; i < img.width(); i++) {
-                    byte r = lineArray[i];
-                    byte g = r;
-                    byte b = r;
-                    ret.pixels[k++] = (r & 255) << 16 | (g & 255) << 8 | (b & 255);
-                }
-            } else {
-
-                if (RGB) {
-                    for (int i = 0; i < img.width(); i++) {
-                        byte r = lineArray[i * nChannels + 0];
-                        byte g = lineArray[i * nChannels + 1];
-                        byte b = lineArray[i * nChannels + 2];
-
-                        ret.pixels[k++] = (r & 255) << 16 | (g & 255) << 8 | (b & 255);
-                    }
-                } else {
-                    for (int i = 0; i < img.width(); i++) {
-                        byte r = lineArray[i * nChannels + 0];
-                        byte g = lineArray[i * nChannels + 1];
-                        byte b = lineArray[i * nChannels + 2];
-
-                        ret.pixels[k++] = (b & 255) << 16 | (g & 255) << 8 | (r & 255);
-                    }
-                }
-            }
-        }
-        ret.updatePixels();
-    }
+            ret.pixels[k++] = (r & 255) << 16 | (g & 255) << 8 | (b & 255);
+          }
+        } else {
+          for (int i = 0; i < img.width(); i++) {
+            byte r = lineArray[i * nChannels + 0];
+            byte g = lineArray[i * nChannels + 1];
+            byte b = lineArray[i * nChannels + 2];
 
-    public static void byteBufferGRAY32toARGB(ByteBuffer gray, ByteBuffer argb) {
-        FloatBuffer floatGray = gray.asFloatBuffer();
-        float[] tmpArr = new float[1];
-        for (int i = 0; i < argb.capacity(); i += 4) {
-            floatGray.get(tmpArr);
-            byte v = (byte) (tmpArr[0] / 65535.0 * 255);
-            //            byte v = (byte) (tmpArr[0] << 8 | tmpArr[1]);
-            argb.put((byte) (v));
-            argb.put((byte) (v));
-            argb.put((byte) (v));
-            argb.put((byte) 255);
+            ret.pixels[k++] = (b & 255) << 16 | (g & 255) << 8 | (r & 255);
+          }
         }
-        argb.rewind();
+      }
+    }
+    ret.updatePixels();
+  }
+
+  public static void byteBufferGRAY32toARGB(ByteBuffer gray, ByteBuffer argb) {
+    FloatBuffer floatGray = gray.asFloatBuffer();
+    float[] tmpArr = new float[1];
+    for (int i = 0; i < argb.capacity(); i += 4) {
+      floatGray.get(tmpArr);
+      byte v = (byte) (tmpArr[0] / 65535.0 * 255);
+      // byte v = (byte) (tmpArr[0] << 8 | tmpArr[1]);
+      argb.put((byte) (v));
+      argb.put((byte) (v));
+      argb.put((byte) (v));
+      argb.put((byte) 255);
     }
+    argb.rewind();
+  }
 
 }
diff --git a/papart/src/fr/inria/papart/utils/LibraryUtils.java b/papart/src/fr/inria/papart/utils/LibraryUtils.java
index 7b1dc609..2570c529 100644
--- a/papart/src/fr/inria/papart/utils/LibraryUtils.java
+++ b/papart/src/fr/inria/papart/utils/LibraryUtils.java
@@ -114,8 +114,8 @@ public static String getPapartDataFolder() {
         case Windows:
           break;
         case MacOS:
-          System.out.println("PapARt data folder [HOME]: " + home + "/Processing/libraries/" + LIBRARY_NAME);
-          candidate = new File(home + "/Processing/libraries/" + LIBRARY_NAME + "/data");
+          System.out.println("PapARt data folder [HOME]: " + home + "/Documents/Processing/libraries/" + LIBRARY_NAME);
+          candidate = new File(home + "/Documents/Processing/libraries/" + LIBRARY_NAME + "/data");
           break;
         case Linux:
           candidate = new File(home + "/sketchbook/libraries/" + LIBRARY_NAME + "/data");