Dynamic overlays & streaming

[atom]

Hi everyone,
I have a set of tasks which I am trying to achieve in VLC. Basically, I want to get an RTSP stream in MPEG4 SP from an IP camera, showing a moving robot. Then, I want to add an overlay (e.g. the trajectory robot is following) and finally stream the result to clients. The major problem I have is with overlays. Last year, there was an attempt within Google SoC to add those overlays (http://wiki.videolan.org/SoC_2007_Proje ... o_Overlays) to vlc, but I am not able to see any results from this SoC project.
Therefore, my question is: what should I do to make this streaming working? I am even willing to program required code to vlc, if necessary.