added mark all

svn path=/trunk/externals/pdp_opencv/; revision=11982

1 files changed, 690 insertions, 0 deletions

diff --git a/pdp_opencv_surf.cc b/pdp_opencv_surf.cc
new file mode 100644
index 0000000..268d1ab
--- /dev/null
+++ b/pdp_opencv_surf.cc
@@ -0,0 +1,690 @@
+/*
+ *   Pure Data Packet module.
+ *   Copyright (c) by Tom Schouten <pdp@zzz.kotnet.org>
+ *
+ *   This program is free software; you can redistribute it and/or modify
+ *   it under the terms of the GNU General Public License as published by
+ *   the Free Software Foundation; either version 2 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU General Public License for more details.
+ *
+ *   You should have received a copy of the GNU General Public License
+ *   along with this program; if not, write to the Free Software
+ *   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <dirent.h>
+#include <limits.h>
+#include <dlfcn.h>
+#include <ctype.h>
+
+#include "pdp.h"
+
+#ifndef _EiC
+#include "cv.h"
+#endif
+
+#define MAX_MARKERS 500
+#define DSCSIZE 128
+
+typedef struct pdp_opencv_surf_struct
+{
+  t_object x_obj;
+  t_float x_f;
+
+  t_outlet *x_outlet0;
+  t_outlet *x_outlet1;
+  t_atom x_list[3];
+
+  int x_packet0;
+  int x_packet1;
+  int x_dropped;
+  int x_queue_id;
+
+  int x_width;
+  int x_height;
+  int x_size;
+
+  int x_maxmove;
+  int x_delaunay;
+  int x_threshold;
+  int night_mode;
+  int x_markall;
+  int x_xmark[MAX_MARKERS];
+  int x_ymark[MAX_MARKERS];
+  float x_rdesc[MAX_MARKERS][DSCSIZE];
+  int x_found[MAX_MARKERS];
+
+  // The output and temporary images
+  IplImage *image, *oimage, *grey;
+  
+  CvSeq *objectKeypoints, *objectDescriptors;
+  int x_hessian;
+  int x_criteria;
+  int x_ftolerance;
+
+  CvFont font;
+
+  // structures needed for the delaunay
+  CvRect x_fullrect;
+  CvMemStorage* x_storage;
+  CvSubdiv2D* x_subdiv;
+    
+} t_pdp_opencv_surf;
+
+static void pdp_opencv_surf_mark(t_pdp_opencv_surf *x, t_symbol *s, int argc, t_atom *argv );
+
+static void pdp_opencv_surf_clear(t_pdp_opencv_surf *x );
+
+static double pdp_opencv_surf_compare_descriptors( const float* d1, const float* d2, int length )
+{
+    double total_cost = 0;
+    assert( length % 4 == 0 );
+    for( int i = 0; i < length; i += 4 )
+    {
+        double t0 = d1[i] - d2[i];
+        double t1 = d1[i+1] - d2[i+1];
+        double t2 = d1[i+2] - d2[i+2];
+        double t3 = d1[i+3] - d2[i+3];
+        total_cost += t0*t0 + t1*t1 + t2*t2 + t3*t3;
+    }
+    return total_cost;
+}
+
+static void pdp_opencv_surf_process_rgb(t_pdp_opencv_surf *x)
+{
+    t_pdp     *header = pdp_packet_header(x->x_packet0);
+    short int *data   = (short int *)pdp_packet_data(x->x_packet0);
+    t_pdp     *newheader = pdp_packet_header(x->x_packet1);
+    short int *newdata = (short int *)pdp_packet_data(x->x_packet1); 
+    int i,j,k,im;
+    char tindex[4];
+    int descsize;
+
+    if ((x->x_width != (t_int)header->info.image.width) || 
+        (x->x_height != (t_int)header->info.image.height) || (!x->image)) 
+    {
+
+      post("pdp_opencv_surf :: resizing plugins");
+  
+      x->x_width = header->info.image.width;
+      x->x_height = header->info.image.height;
+      x->x_size = x->x_width*x->x_height;
+    
+      //Destroy cv_images
+      if ( x->image )
+      {
+        cvReleaseImage( &x->image );
+        cvReleaseImage( &x->oimage );
+        cvReleaseImage( &x->grey );
+      }
+   
+      //Create cv_images 
+      x->image = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 3 );
+      x->oimage = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 3 );
+      x->grey = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
+    }
+    
+    newheader->info.image.encoding = header->info.image.encoding;
+    newheader->info.image.width = x->x_width;
+    newheader->info.image.height = x->x_height;
+
+    memcpy( newdata, data, x->x_size*3 );
+    
+    memcpy( x->image->imageData, data, x->x_size*3 );
+    memcpy( x->oimage->imageData, data, x->x_size*3 );
+        
+    cvCvtColor( x->image, x->grey, CV_RGB2GRAY );
+
+    x->x_storage = cvCreateMemStorage(0);
+
+    if( x->night_mode )
+        cvZero( x->image );
+        
+    for ( im=0; im<MAX_MARKERS; im++ )
+    {
+        x->x_found[im]--;
+    }
+
+    if ( x->x_delaunay >= 0 )
+    {
+       // init data structures for the delaunay
+       x->x_fullrect.x = -x->x_width/2;
+       x->x_fullrect.y = -x->x_height/2;
+       x->x_fullrect.width = 2*x->x_width;
+       x->x_fullrect.height = 2*x->x_height;
+
+       x->x_subdiv = cvCreateSubdiv2D( CV_SEQ_KIND_SUBDIV2D, sizeof(*x->x_subdiv),
+                               sizeof(CvSubdiv2DPoint),
+                               sizeof(CvQuadEdge2D),
+                               x->x_storage );
+       cvInitSubdivDelaunay2D( x->x_subdiv, x->x_fullrect );
+    }
+
+    cvExtractSURF( x->grey, 0, &x->objectKeypoints, &x->objectDescriptors, x->x_storage, cvSURFParams(x->x_hessian, 1) );
+    descsize = (int)(x->objectDescriptors->elem_size/sizeof(float));
+
+    for( i = 0; i < x->objectKeypoints->total; i++ )
+    {
+      CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( x->objectKeypoints, i );
+      const float* rdesc = (const float*)cvGetSeqElem( x->objectDescriptors, i );
+
+       if ( x->x_delaunay == 0 ) // add all the points
+       {
+          cvSubdivDelaunay2DInsert( x->x_subdiv, r1->pt );
+          cvCalcSubdivVoronoi2D( x->x_subdiv );
+       }
+
+       // only add points included in (color-threshold)<p<(color+treshold)
+       if ( ( x->x_delaunay > 0 ) && ( x->x_xmark[x->x_delaunay-1] != -1 ) ) 
+       {
+         int px = cvPointFrom32f(r1->pt).x;
+         int py = cvPointFrom32f(r1->pt).y;
+         int ppx, ppy;
+
+         // eight connected pixels 
+         for ( ppx=px-1; ppx<=px+1; ppx++ )
+         { 
+           for ( ppy=py-1; ppy<=py+1; ppy++ )
+           { 
+             if ( ( ppx < 0 ) || ( ppx >= x->x_width ) ) continue;
+             if ( ( ppy < 0 ) || ( ppy >= x->x_height ) ) continue;
+
+             uchar red = ((uchar*)(x->oimage->imageData + x->oimage->widthStep*ppx))[ppy*3];
+             uchar green = ((uchar*)(x->oimage->imageData + x->oimage->widthStep*ppx))[ppy*3+1];
+             uchar blue = ((uchar*)(x->oimage->imageData + x->oimage->widthStep*ppx))[ppy*3+2];
+
+             uchar pred = ((uchar*)(x->oimage->imageData + x->oimage->widthStep*x->x_xmark[x->x_delaunay-1]))[x->x_ymark[x->x_delaunay-1]*3];
+             uchar pgreen = ((uchar*)(x->oimage->imageData + x->oimage->widthStep*x->x_xmark[x->x_delaunay-1]))[x->x_ymark[x->x_delaunay-1]*3+1];
+             uchar pblue = ((uchar*)(x->oimage->imageData + x->oimage->widthStep*x->x_xmark[x->x_delaunay-1]))[x->x_ymark[x->x_delaunay-1]*3+2];
+
+             int diff = abs(red-pred) + abs(green-pgreen) + abs(blue-pblue);
+
+             // post( "pdp_opencv_surf : point (%d,%d,%d) : diff : %d", blue, green, red, diff );
+
+             if ( diff < x->x_threshold )
+             {
+                cvSubdivDelaunay2DInsert( x->x_subdiv, r1->pt );
+                cvCalcSubdivVoronoi2D( x->x_subdiv );
+             }
+           }
+         }
+       }
+
+       cvCircle( x->image, cvPointFrom32f(r1->pt), 3, CV_RGB(0,255,0), -1, 8,0);
+
+       // mark the point if it is not already
+       if ( x->x_markall )
+       {
+         int marked = 0;
+
+         for ( im=0; im<MAX_MARKERS; im++ )
+         {
+           if ( x->x_xmark[im] != -1.0 )
+           {
+             if ( ( abs( r1->pt.x - x->x_xmark[im] ) <= x->x_maxmove ) && ( abs( r1->pt.y - x->x_ymark[im] ) <= x->x_maxmove ) )
+             {
+               marked = 1;
+               // post( "pdp_opencv_surf : point already marked" );
+               break;
+             }
+           }
+         }
+         if ( !marked ) 
+         {
+            for ( i=0; i<MAX_MARKERS; i++)
+            {
+               if ( x->x_xmark[i] == -1 )
+               {
+                  x->x_xmark[i] = r1->pt.x;
+                  x->x_ymark[i] = r1->pt.y;
+                  x->x_found[i] = x->x_ftolerance;
+                  memset( (float * )x->x_rdesc[i], 0x0, DSCSIZE*sizeof(float));
+                  break;
+               }
+            }
+         }
+       }
+    }
+
+    for ( im=0; im<MAX_MARKERS; im++ )
+    {
+      int neighbour = -1;
+      double d, dist1 = 1000000, dist2 = 1000000;
+
+      for( i = 0; i < x->objectKeypoints->total; i++ )
+      {
+        CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( x->objectKeypoints, i );
+        const float* rdesc = (const float*)cvGetSeqElem( x->objectDescriptors, i );
+        int descsize = (int)(x->objectDescriptors->elem_size/sizeof(float));
+
+         // manually marked points
+         // recognized on position
+         // if ( ( x->x_xmark[im] != -1.0 ) && ( x->x_rdesc[im][0] == 0.0 ) )
+         if ( x->x_xmark[im] != -1.0 )
+         {
+           if ( ( abs( r1->pt.x - x->x_xmark[im] ) <= x->x_maxmove ) && ( abs( r1->pt.y - x->x_ymark[im] ) <= x->x_maxmove ) )
+           {
+             sprintf( tindex, "%d", im+1 );
+             cvPutText( x->image, tindex, cvPointFrom32f(r1->pt), &x->font, CV_RGB(255,255,255));
+             x->x_xmark[im]=r1->pt.x;
+             x->x_ymark[im]=r1->pt.y;
+             memcpy( (float * )x->x_rdesc[im], rdesc, descsize*sizeof(float));
+             x->x_found[im]++;
+             SETFLOAT(&x->x_list[0], im+1);
+             SETFLOAT(&x->x_list[1], x->x_xmark[im]);
+             SETFLOAT(&x->x_list[2], x->x_ymark[im]);
+             outlet_list( x->x_outlet1, 0, 3, x->x_list );
+             break;
+           }
+         }
+
+         // recognize points according to their SURF descriptor ( size = 128 ) 
+         // this code is desactivated because it isn't more stable than the positions
+         // if ( ( x->x_xmark[im] != -1.0 ) && ( x->x_rdesc[im][0] != 0.0 ) )
+         // {
+         //   d = pdp_opencv_surf_compare_descriptors( x->x_rdesc[im], rdesc, descsize );
+         //   if( d < dist1 )
+         //   {
+         //     dist1 = d;
+         //     neighbour = i;
+         //     // post( "pdp_opencv_surf : point %d, min distance : %d ( with %d )", i, (int)d, im );
+         //   }
+         // }
+       }
+
+       // check if we found the point
+       // if ( dist1 < x->x_criteria )
+       // {
+       //   CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( x->objectKeypoints, neighbour );
+       //   const float* rdesc = (const float*)cvGetSeqElem( x->objectDescriptors, neighbour );
+
+       //   // point identified 
+       //   sprintf( tindex, "%d", im+1 );
+       //   cvPutText( x->image, tindex, cvPointFrom32f(r1->pt), &x->font, CV_RGB(255,255,255));
+       //   x->x_xmark[im]=r1->pt.x;
+       //   x->x_ymark[im]=r1->pt.y;
+       //   memcpy( (float * )x->x_rdesc[im], rdesc, descsize*sizeof(float));
+       //   x->x_found[im]=1;
+       //   SETFLOAT(&x->x_list[0], im+1);
+       //   SETFLOAT(&x->x_list[1], x->x_xmark[im]);
+       //   SETFLOAT(&x->x_list[2], x->x_ymark[im]);
+       //   outlet_list( x->x_outlet1, 0, 3, x->x_list );
+       // }
+    }
+
+    // draw the delaunay
+    if ( x->x_delaunay >= 0 )
+    {
+       CvSeqReader  reader;
+       int i, total = x->x_subdiv->edges->total;
+       int elem_size = x->x_subdiv->edges->elem_size;
+
+       cvStartReadSeq( (CvSeq*)(x->x_subdiv->edges), &reader, 0 );
+
+       for( i = 0; i < total; i++ )
+       {
+         CvQuadEdge2D* edge = (CvQuadEdge2D*)(reader.ptr);
+         CvSubdiv2DPoint* org_pt;
+         CvSubdiv2DPoint* dst_pt;
+         CvPoint2D32f org;
+         CvPoint2D32f dst;
+         CvPoint iorg, idst;
+
+           if( CV_IS_SET_ELEM( edge ))
+           {
+             org_pt = cvSubdiv2DEdgeOrg((CvSubdiv2DEdge)edge);
+             dst_pt = cvSubdiv2DEdgeDst((CvSubdiv2DEdge)edge);
+
+             if( org_pt && dst_pt )
+             {
+                 org = org_pt->pt;
+                 dst = dst_pt->pt;
+
+                 iorg = cvPoint( cvRound( org.x ), cvRound( org.y ));
+                 idst = cvPoint( cvRound( dst.x ), cvRound( dst.y ));
+
+                 if ( ( org.x > 0 ) && ( org.x < x->x_width ) &&
+                      ( dst.x > 0 ) && ( dst.x < x->x_width ) &&
+                      ( org.y > 0 ) && ( org.y < x->x_height ) &&
+                      ( dst.y > 0 ) && ( dst.y < x->x_height ) )
+                 cvLine( x->image, iorg, idst, CV_RGB(255,0,0), 1, CV_AA, 0 );
+             }
+           }
+
+           // draw the voronoi : useless in my opinion as points belongs to contours
+           /*
+           if( CV_IS_SET_ELEM( edge+1 ))
+           {
+             org_pt = cvSubdiv2DEdgeOrg((CvSubdiv2DEdge)edge+1);
+             dst_pt = cvSubdiv2DEdgeDst((CvSubdiv2DEdge)edge+1);
+
+             if( org_pt && dst_pt )
+             {
+                 org = org_pt->pt;
+                 dst = dst_pt->pt;
+
+                 iorg = cvPoint( cvRound( org.x ), cvRound( org.y ));
+                 idst = cvPoint( cvRound( dst.x ), cvRound( dst.y ));
+
+                 cvLine( x->image, iorg, idst, CV_RGB(0,0,255), 1, CV_AA, 0 );
+             }
+           }
+           */
+
+           CV_NEXT_SEQ_ELEM( elem_size, reader );
+       }
+    }
+
+    // suppress lost points
+    for ( im=0; im<MAX_MARKERS; im++ )
+    {
+        if ( (x->x_xmark[im] != -1.0 ) && !x->x_found[im] )
+        {
+           x->x_xmark[im]=-1.0;
+           x->x_ymark[im]=-1.0;
+           SETFLOAT(&x->x_list[0], im+1);
+           SETFLOAT(&x->x_list[1], x->x_xmark[im]);
+           SETFLOAT(&x->x_list[2], x->x_ymark[im]);
+           // send a lost point message to the patch
+           outlet_list( x->x_outlet1, 0, 3, x->x_list );
+           // post( "pdp_opencv_surf : lost point %d", im+1 );
+        }
+    }
+
+    memcpy( newdata, x->image->imageData, x->x_size*3 );
+
+    cvReleaseMemStorage( &x->x_storage ); 
+
+    return;
+}
+
+
+static void pdp_opencv_surf_nightmode(t_pdp_opencv_surf *x, t_floatarg f)
+{
+  if ((f==0.0)||(f==1.0)) x->night_mode = (int)f;
+}
+
+static void pdp_opencv_surf_ftolerance(t_pdp_opencv_surf *x, t_floatarg f)
+{
+  if (f>0.0) x->x_ftolerance = (int)f;
+}
+
+static void pdp_opencv_surf_maxmove(t_pdp_opencv_surf *x, t_floatarg f)
+{
+  // has to be more than the size of a point
+  if (f>=3.0) x->x_maxmove = (int)f;
+}
+
+static void pdp_opencv_surf_hessian(t_pdp_opencv_surf *x, t_floatarg f)
+{
+  if ( (int)f>0 ) x->x_hessian = (int)f;
+}
+
+static void pdp_opencv_surf_criteria(t_pdp_opencv_surf *x, t_floatarg f)
+{
+  if ( (int)f>0 ) x->x_criteria = (int)f;
+}
+
+static void pdp_opencv_surf_delaunay(t_pdp_opencv_surf *x, t_symbol *s)
+{
+  if (s == gensym("on")) 
+     x->x_delaunay = 0;
+  if (s == gensym("off")) 
+     x->x_delaunay = -1;
+}
+
+static void pdp_opencv_surf_pdelaunay(t_pdp_opencv_surf *x, t_floatarg point, t_floatarg threshold)
+{
+  if (((int)point>0) && ((int)point<MAX_MARKERS))
+  {
+     x->x_delaunay = (int)point;
+     x->x_threshold = (int)threshold;
+  }
+}
+
+static void pdp_opencv_surf_mark(t_pdp_opencv_surf *x, t_symbol *s, int argc, t_atom *argv )
+{
+  int i;
+  int inserted;
+  int px,py;
+
+    if ( argc == 1 ) // mark all
+    {
+      if ( argv[0].a_type != A_SYMBOL )
+      {
+        error( "pdp_opencv_surf : wrong argument (should be 'all')" );
+        return;
+      }
+      if ( !strcmp( argv[0].a_w.w_symbol->s_name, "all" ) )
+      {
+        x->x_markall = 1;
+        return;
+      }
+      if ( !strcmp( argv[0].a_w.w_symbol->s_name, "none" ) )
+      {
+        x->x_markall = 0;
+        pdp_opencv_surf_clear(x);
+        return;
+      }
+    }
+    else
+    {
+      if ( ( argv[0].a_type != A_FLOAT ) || ( argv[1].a_type != A_FLOAT ) )
+      {
+        error( "pdp_opencv_surf : wrong argument (should be mark px py)" );
+        return;
+      }
+      else 
+      {
+        float fperx = argv[0].a_w.w_float;
+        float fpery = argv[1].a_w.w_float;
+   
+        if ( ( fperx < 0.0 ) || ( fperx > 1.0 ) || ( fpery < 0.0 ) || ( fpery > 1.0 ) )
+        {
+           return;
+        }
+
+        px = (int)(fperx*x->x_width);
+        py = (int)(fpery*x->x_height);
+        inserted = 0;
+        for ( i=0; i<MAX_MARKERS; i++)
+        {
+           if ( x->x_xmark[i] == -1 )
+           {
+              x->x_xmark[i] = px;
+              x->x_ymark[i] = py;
+              x->x_found[i] = x->x_ftolerance;
+              memset( (float * )x->x_rdesc[i], 0x0, DSCSIZE*sizeof(float));
+              inserted = 1;
+              break;
+           }
+        }
+        if ( !inserted )
+        {
+           post( "pdp_opencv_surf : max markers reached" );
+        }
+      }
+    }
+}
+
+static void pdp_opencv_surf_delete(t_pdp_opencv_surf *x, t_floatarg findex )
+{
+  int i;
+
+    if ( ( findex < 1.0 ) || ( findex > MAX_MARKERS ) )
+    {
+       return;
+    }
+
+    x->x_xmark[(int)findex-1] = -1;
+    x->x_ymark[(int)findex-1] = -1;
+}
+
+static void pdp_opencv_surf_clear(t_pdp_opencv_surf *x )
+{
+  int i;
+
+    for ( i=0; i<MAX_MARKERS; i++)
+    {
+      x->x_xmark[i] = -1;
+      x->x_ymark[i] = -1;
+    }
+}
+
+static void pdp_opencv_surf_sendpacket(t_pdp_opencv_surf *x)
+{
+  /* release the packet */
+  pdp_packet_mark_unused(x->x_packet0);
+  x->x_packet0 = -1;
+
+  /* unregister and propagate if valid dest packet */
+  pdp_packet_pass_if_valid(x->x_outlet0, &x->x_packet1);
+}
+
+static void pdp_opencv_surf_process(t_pdp_opencv_surf *x)
+{
+   int encoding;
+   t_pdp *header = 0;
+   char *parname;
+   unsigned pi;
+   int partype;
+   float pardefault;
+   t_atom plist[2];
+   t_atom tlist[2];
+   t_atom vlist[2];
+
+   /* check if image data packets are compatible */
+   if ( (header = pdp_packet_header(x->x_packet0))
+  && (PDP_BITMAP == header->type)){
+    
+  /* pdp_opencv_surf_process inputs and write into active inlet */
+  switch(pdp_packet_header(x->x_packet0)->info.image.encoding){
+
+  case PDP_BITMAP_RGB:
+            x->x_packet1 = pdp_packet_clone_rw(x->x_packet0);
+            pdp_queue_add(x, (void*)pdp_opencv_surf_process_rgb, (void*)pdp_opencv_surf_sendpacket, &x->x_queue_id);
+      break;
+
+  default:
+      /* don't know the type, so dont pdp_opencv_surf_process */
+      break;
+      
+  }
+    }
+
+}
+
+static void pdp_opencv_surf_input_0(t_pdp_opencv_surf *x, t_symbol *s, t_floatarg f)
+{
+    /* if this is a register_ro message or register_rw message, register with packet factory */
+
+    if (s == gensym("register_rw")) 
+       x->x_dropped = pdp_packet_convert_ro_or_drop(&x->x_packet0, (int)f, pdp_gensym((char *)"bitmap/rgb/*") );
+
+    if ((s == gensym("process")) && (-1 != x->x_packet0) && (!x->x_dropped))
+    {
+        /* add the process method and callback to the process queue */
+        pdp_opencv_surf_process(x);
+    }
+}
+
+static void pdp_opencv_surf_free(t_pdp_opencv_surf *x)
+{
+  int i;
+
+    pdp_queue_finish(x->x_queue_id);
+    pdp_packet_mark_unused(x->x_packet0);
+    
+    //Destroy cv_images
+    cvReleaseImage( &x->image );
+    cvReleaseImage( &x->grey );
+}
+
+t_class *pdp_opencv_surf_class;
+
+
+void *pdp_opencv_surf_new(t_floatarg f)
+{
+  int i;
+
+  t_pdp_opencv_surf *x = (t_pdp_opencv_surf *)pd_new(pdp_opencv_surf_class);
+  inlet_new(&x->x_obj, &x->x_obj.ob_pd, &s_float, gensym("win_size"));
+
+  x->x_outlet0 = outlet_new(&x->x_obj, &s_anything); 
+  x->x_outlet1 = outlet_new(&x->x_obj, &s_anything);
+
+  x->x_packet0 = -1;
+  x->x_packet1 = -1;
+  x->x_queue_id = -1;
+
+  x->x_width  = 320;
+  x->x_height = 240;
+  x->x_size   = x->x_width * x->x_height;
+
+  x->night_mode = 0;
+  x->x_maxmove = 8;
+  x->x_delaunay = -1;
+  x->x_threshold = -1;
+
+  x->objectKeypoints = NULL;
+  x->objectDescriptors = NULL;
+  x->x_hessian = 500;
+  x->x_criteria = 20;
+  x->x_ftolerance = 5;
+
+  x->x_markall = 0;
+  for ( i=0; i<MAX_MARKERS; i++ )
+  {
+     x->x_xmark[i] = -1;
+     x->x_ymark[i] = -1;
+  }
+
+  // initialize font
+  cvInitFont( &x->font, CV_FONT_HERSHEY_PLAIN, 1.0, 1.0, 0, 1, 8 );
+    
+  x->image = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 3 );
+  x->oimage = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 3 );
+  x->grey = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
+
+  return (void *)x;
+}
+
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+void pdp_opencv_surf_setup(void)
+{
+
+    post( "    pdp_opencv_surf");
+    pdp_opencv_surf_class = class_new(gensym("pdp_opencv_surf"), (t_newmethod)pdp_opencv_surf_new,
+      (t_method)pdp_opencv_surf_free, sizeof(t_pdp_opencv_surf), 0, A_DEFFLOAT, A_NULL);
+
+    class_addmethod(pdp_opencv_surf_class, (t_method)pdp_opencv_surf_input_0, gensym("pdp"), A_SYMBOL, A_DEFFLOAT, A_NULL);
+    class_addmethod(pdp_opencv_surf_class, (t_method)pdp_opencv_surf_nightmode, gensym("nightmode"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_surf_class, (t_method)pdp_opencv_surf_hessian, gensym("hessian"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_surf_class, (t_method)pdp_opencv_surf_ftolerance, gensym("ftolerance"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_surf_class, (t_method)pdp_opencv_surf_mark, gensym("mark"), A_GIMME, A_NULL );   
+    class_addmethod(pdp_opencv_surf_class, (t_method)pdp_opencv_surf_delete, gensym("delete"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_surf_class, (t_method)pdp_opencv_surf_clear, gensym("clear"), A_NULL );   
+    class_addmethod(pdp_opencv_surf_class, (t_method)pdp_opencv_surf_maxmove, gensym("maxmove"),  A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_surf_class, (t_method)pdp_opencv_surf_delaunay, gensym("delaunay"),  A_SYMBOL, A_NULL );   
+    class_addmethod(pdp_opencv_surf_class, (t_method)pdp_opencv_surf_pdelaunay, gensym("pdelaunay"),  A_FLOAT, A_FLOAT, A_NULL );   
+
+}
+
+#ifdef __cplusplus
+}
+#endif