Amélioration Save/Load + Tests Robobo + modif gitIgnore

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp

@@ -1,6 +1,6 @@
 #include "ASIFT_matcher.hpp"
 
-ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _total_num_matchings(0), _resize_imgs(false), _showDebug(false)
+ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _total_num_matchings(0), _resize_imgs(false), _showDebug(false), _showInfo(true)
 {
 	default_sift_parameters(_siftParam);
 }
@@ -63,111 +63,10 @@ bool ASIFT_matcher::addReference(const char* image_path, unsigned int num_tilts)
     size_t w1=gray.width(), h1=gray.height();
     ipixels1.assign(gray.begin(), gray.end());
 
-    std::cout<<"Building reference from "<< image_path << std::endl;
+    if(_showInfo)
+   		std::cout<<"Building reference from "<< image_path << std::endl;
 
     return addReference(ipixels1, w1, h1, num_tilts);
- //    ///// Resize the images to area wS*hW in remaining the apsect-ratio	
-	// ///// Resize if the resize flag is not set or if the flag is set unequal to 0
-	// float wS = IM_X;
-	// float hS = IM_Y;
-	
-	// float zoom1=0;	
-	// int wS1=0, hS1=0;
-	// vector<float> ipixels1_zoom;
-
-	// if(_resize_imgs)
-	// {
-	// 	cout << "WARNING: The input image is resized to " << wS << "x" << hS << " for ASIFT. " << endl 
-	// 	<< "         But the results will be normalized to the original image size." << endl << endl;
-		
-	// 	float InitSigma_aa = 1.6;
-		
-	// 	float fproj_p, fproj_bg;
-	// 	char fproj_i;
-	// 	float *fproj_x4, *fproj_y4;
-	// 	int fproj_o;
-
-	// 	fproj_o = 3;
-	// 	fproj_p = 0;
-	// 	fproj_i = 0;
-	// 	fproj_bg = 0;
-	// 	fproj_x4 = 0;
-	// 	fproj_y4 = 0;
-				
-	// 	float areaS = wS * hS;
-
-	// 	// Resize image 1 
-	// 	float area1 = w1 * h1;
-	// 	zoom1 = sqrt(area1/areaS);
-		
-	// 	wS1 = (int) (w1 / zoom1);
-	// 	hS1 = (int) (h1 / zoom1);
-		
-	// 	int fproj_sx = wS1;
-	// 	int fproj_sy = hS1;     
-		
-	// 	float fproj_x1 = 0;
-	// 	float fproj_y1 = 0;
-	// 	float fproj_x2 = wS1;
-	// 	float fproj_y2 = 0;
-	// 	float fproj_x3 = 0;	     
-	// 	float fproj_y3 = hS1;
-		
-	// 	/* Anti-aliasing filtering along vertical direction */
-	// 	if ( zoom1 > 1 )
-	// 	{
-	// 		float sigma_aa = InitSigma_aa * zoom1 / 2;
-	// 		GaussianBlur1D(ipixels1,w1,h1,sigma_aa,1);
-	// 		GaussianBlur1D(ipixels1,w1,h1,sigma_aa,0);
-	// 	}
-			
-	// 	// simulate a tilt: subsample the image along the vertical axis by a factor of t.
-	// 	ipixels1_zoom.resize(wS1*hS1);
-	// 	fproj (ipixels1, ipixels1_zoom, w1, h1, &fproj_sx, &fproj_sy, &fproj_bg, &fproj_o, &fproj_p, 
-	// 		   &fproj_i , fproj_x1 , fproj_y1 , fproj_x2 , fproj_y2 , fproj_x3 , fproj_y3, fproj_x4, fproj_y4); 
-	// }
-	// else
-	// {
-	// 	ipixels1_zoom.resize(w1*h1);	
-	// 	ipixels1_zoom = ipixels1;
-	// 	wS1 = w1;
-	// 	hS1 = h1;
-	// 	zoom1 = 1;
-	// }
-
-	// // image new_ref;
-	// // new_ref.img = ipixels1_zoom;
-	// // new_ref.width = wS1;
-	// // new_ref.height = hS1;
-
-
-	// ///// Compute ASIFT keypoints
-	// asift_keypoints keys;
-	// // vector< vector< keypointslist > >* keys = new vector< vector< keypointslist > >;
-	// int num_keys = 0;
-
-	// time_t tstart, tend;
-	// tstart = time(0);
-
-	// num_keys = compute_asift_keypoints(ipixels1_zoom, wS1, hS1, num_tilts, _showDebug, keys, _siftParam);
-
-	// tend = time(0);
-
-	// //Save data
-	// _im_refs.push_back(ipixels1_zoom);
-	// _size_refs.push_back(make_pair(wS1,hS1));
-	// _zoom_refs.push_back(zoom1);
-
-	// _num_keys.push_back(num_keys);
-	// _num_tilts.push_back(num_tilts);
-	// _keys.push_back(keys);
-
-	// _nb_refs++;
-
-	// cout<<"Reference built in "<< difftime(tend, tstart) << " seconds." << endl;
-	// cout<<"	"<< num_keys <<" ASIFT keypoints found in "<< image_path << endl;
-
-	// return true;
 }
 
 //Image : Gray scale image (image size = w*h)
@@ -193,8 +92,9 @@ bool ASIFT_matcher::addReference(const vector<float>& image, unsigned int w, uns
 
 	if(_resize_imgs)
 	{
-		cout << "WARNING: The input image is resized to " << wS << "x" << hS << " for ASIFT. " << endl 
-		<< "         But the results will be normalized to the original image size." << endl << endl;
+		if(_showInfo)
+			cout << "WARNING: The input image is resized to " << wS << "x" << hS << " for ASIFT. " << endl 
+			<< "         But the results will be normalized to the original image size." << endl << endl;
 		
 		float InitSigma_aa = 1.6;
 		
@@ -273,8 +173,9 @@ bool ASIFT_matcher::addReference(const vector<float>& image, unsigned int w, uns
 
 	_nb_refs++;
 
-	cout<<"Reference built in "<< difftime(tend, tstart) << " seconds." << endl;
-	cout<<"	"<< num_keys <<" ASIFT keypoints found."<< endl;
+	if(_showInfo)
+		cout<<"Reference built in "<< difftime(tend, tstart) << " seconds." << endl
+		<<"	"<< num_keys <<" ASIFT keypoints found."<< endl;
 
 	return true;
 }
@@ -284,7 +185,7 @@ unsigned int ASIFT_matcher::match(const char* image_path, unsigned int num_tilts
 {
 	if(_nb_refs<=0)
 	{
-		cout<<"ASIFT_matcher Error : Trying to match without reference"<<endl;
+		std::cerr<<"ASIFT_matcher Error : Trying to match without reference"<<std::endl;
 		return 0;
 	}
 
@@ -327,7 +228,8 @@ unsigned int ASIFT_matcher::match(const char* image_path, unsigned int num_tilts
     size_t w1=gray.width(), h1=gray.height();
     ipixels1.assign(gray.begin(), gray.end());
 
-    std::cout<<"Matching from "<<image_path<<std::endl;
+    if(_showInfo)
+    	std::cout<<"Matching from "<<image_path<<std::endl;
 
     return match(ipixels1, w1, h1, num_tilts);
 }
@@ -356,8 +258,9 @@ unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, un
 
 	if(_resize_imgs)
 	{
-		cout << "WARNING: The input image is resized to " << wS << "x" << hS << " for ASIFT. " << endl 
-		<< "         But the results will be normalized to the original image size." << endl << endl;
+		if(_showInfo)
+			cout << "WARNING: The input image is resized to " << wS << "x" << hS << " for ASIFT. " << endl 
+			<< "         But the results will be normalized to the original image size." << endl << endl;
 		
 		float InitSigma_aa = 1.6;
 		
@@ -424,8 +327,10 @@ unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, un
 	num_keys = compute_asift_keypoints(ipixels1_zoom, wS1, hS1, num_tilts, _showDebug, keys, _siftParam);
 
 	tend = time(0);
-	cout<< "Keypoints computation accomplished in " << difftime(tend, tstart) << " seconds." << endl;
-	cout<<"	"<< num_keys <<" ASIFT keypoints found."<< endl;
+
+	if(_showInfo)
+		cout<< "Keypoints computation accomplished in " << difftime(tend, tstart) << " seconds." << endl
+		<<"	"<< num_keys <<" ASIFT keypoints found."<< endl;
 
 	//// Match ASIFT keypoints
 	_total_num_matchings=0;
@@ -435,7 +340,8 @@ unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, un
 		int num_matchings = 0;
 		matchingslist matchings;
 
-		cout << "Matching the keypoints..." << endl;
+		if(_showInfo)
+			cout << "Matching the keypoints..." << endl;
 		tstart = time(0);
 		try
 		{
@@ -449,7 +355,8 @@ unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, un
 		// cout<< _keys[i].size()<< " " << _keys[i][0].size() <<" "<< _keys[i][0][0].size()<<endl;
 
 		tend = time(0);
-		cout << "Keypoints matching accomplished in " << difftime(tend, tstart) << " seconds." << endl;
+		if(_showInfo)
+			cout << "Keypoints matching accomplished in " << difftime(tend, tstart) << " seconds." << endl;
 
 		_num_matchings.push_back(num_matchings);
 		_total_num_matchings += num_matchings;
@@ -536,7 +443,8 @@ bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
 //Return true if successfull 
 bool ASIFT_matcher::distFilter(int threshold=2)
 {
-	cout<<"filtering keypoint..."<<endl;
+	if(_showInfo)
+		cout<<"filtering keypoint..."<<endl;
 	if(getNbMatch()==0)
 	{
 		cerr<<"Error : cannot filter points without matchs"<<endl;
@@ -627,12 +535,16 @@ bool ASIFT_matcher::saveReferences(const char* ref_path) const
 			// Follow the same convention of David Lowe: 
 			// the first line contains the number of keypoints and the length of the desciptors (128) 
 			// Added number of tilts
-			// Added sizes
-			file_key1 << _num_keys[j] << " " << VecLength << " " <<_size_refs[j].first<<" "<<_size_refs[j].second<<" "<<std::endl; //<<_num_tilts[j] << " "
-			for (int tt = 0; tt < (int) kps.size(); tt++)
+			// Added sizes (* zoom_ref useful ?)
+			file_key1 << _num_keys[j] << " " << VecLength << " " <<_size_refs[j].first*_zoom_refs[j]<<" "<<_size_refs[j].second*_zoom_refs[j]<<" "<<_num_tilts[j] << " "<<std::endl; //<<_num_tilts[j] << " "
+			for (int tt = 0; tt < (int) kps.size(); tt++) //kps.size = num_tilt
 			{
+				file_key1<<kps[tt].size()<<" "<<std::endl;
+
 				for (int rr = 0; rr < (int) kps[tt].size(); rr++)
 				{
+					file_key1<<kps[tt][rr].size()<<" "<<std::endl;
+
 					keypointslist::iterator ptr = kps[tt][rr].begin();
 					for(int i=0; i < (int) kps[tt][rr].size(); i++, ptr++)	
 					{
@@ -662,13 +574,12 @@ bool ASIFT_matcher::saveReferences(const char* ref_path) const
 
 //Load reference data necessary for the matching 
 //Doesn't load references images or Sift parameters
-//TODO : split data between different tilts
 bool ASIFT_matcher::loadReferences(const char* ref_path)
 {
 	std::ifstream ref_file(ref_path);
 	std::string line, tmp;
 	std::stringstream iss;
-	pair<int,int> size_tmp;
+	pair<int,int> img_size_tmp;
 	if (ref_file.is_open())
 	{
 		std::getline(ref_file, line);
@@ -678,7 +589,7 @@ bool ASIFT_matcher::loadReferences(const char* ref_path)
 		_keys = std::vector<asift_keypoints>(_nb_refs);
 		_num_keys = std::vector< int >(_nb_refs);
 		_size_refs= std::vector< pair<int,int> >(_nb_refs);
-		_num_tilts = std::vector< int >(_nb_refs,1);
+		_num_tilts = std::vector< int >(_nb_refs);
 		_zoom_refs = std::vector<float>(_nb_refs,1);
 		for(unsigned int i = 0; i<_nb_refs;i++)
 		{
@@ -695,61 +606,75 @@ bool ASIFT_matcher::loadReferences(const char* ref_path)
 				return false;
 			}
 
-			// std::getline(iss,tmp,' ');
-			// _num_tilts[i]=atoi(tmp.c_str());
+			std::getline(iss,tmp,' ');
+			img_size_tmp.first=atoi(tmp.c_str());
 
 			std::getline(iss,tmp,' ');
-			size_tmp.first=atoi(tmp.c_str());
+			img_size_tmp.second=atoi(tmp.c_str());
+
+			_size_refs[i]=img_size_tmp;
 
 			std::getline(iss,tmp,' ');
-			size_tmp.second=atoi(tmp.c_str());
+			_num_tilts[i]=atoi(tmp.c_str());
 
-			_size_refs[i]=size_tmp;
-
-			keypointslist list;
-			for(unsigned int j =0; j<(unsigned int)_num_keys[i];j++)
+			asift_keypoints nakp(_num_tilts[i]);
+			
+			for(unsigned int j =0; j<(unsigned int)_num_tilts[i];j++)
 			{
-				keypoint nkp;
-
 				std::getline(ref_file, line);
 				std::stringstream iss(line);
-				// if(j==0)
-				// 	cout<<line<<endl;
 
-				std::getline(iss,tmp,' ');
-				// std::stof(nb_ref, nkp.x); //C++11
-				nkp.x=atof(tmp.c_str());
-				// if(j<5)
-				// 	cout<<"x : "<<nkp.x<<endl;
-				std::getline(iss,tmp,' ');
-				nkp.y=atof(tmp.c_str());
-				// if(j<5)
-				// 	cout<<"y : "<<nkp.y<<endl;
-				std::getline(iss,tmp,' ');
-				nkp.scale=atof(tmp.c_str());
-				// if(j<5)
-				// 	cout<<"Scale : "<<nkp.scale<<endl;
-				std::getline(iss,tmp,' ');
-				nkp.angle=atof(tmp.c_str());
+				int veclist_size_tmp = atoi(line.c_str());
 
-				for(unsigned int k=0; k<(int) VecLength; k++)
+				std::vector< keypointslist > vkpl(veclist_size_tmp);
+
+				for(unsigned int k =0; k<(unsigned int)veclist_size_tmp;k++)
 				{
-					std::getline(iss,tmp,' ');
-					nkp.vec[k]=atof(tmp.c_str());
+					std::getline(ref_file, line);
+					std::stringstream iss(line);
+
+					int list_size_tmp = atoi(line.c_str());
+
+					keypointslist list(list_size_tmp);
+
+					for(unsigned int l =0; l<(unsigned int)list_size_tmp;l++)
+					{
+						keypoint nkp;
+
+						std::getline(ref_file, line);
+						std::stringstream iss(line);
+						// if(j==0)
+						// 	cout<<line<<endl;
+
+						std::getline(iss,tmp,' ');
+						// std::stof(nb_ref, nkp.x); //C++11
+						nkp.x=atof(tmp.c_str());
+						// if(j<5)
+						// 	cout<<"x : "<<nkp.x<<endl;
+						std::getline(iss,tmp,' ');
+						nkp.y=atof(tmp.c_str());
+						// if(j<5)
+						// 	cout<<"y : "<<nkp.y<<endl;
+						std::getline(iss,tmp,' ');
+						nkp.scale=atof(tmp.c_str());
+						// if(j<5)
+						// 	cout<<"Scale : "<<nkp.scale<<endl;
+						std::getline(iss,tmp,' ');
+						nkp.angle=atof(tmp.c_str());
+
+						for(unsigned int m=0; m<(int) VecLength; m++)
+						{
+							std::getline(iss,tmp,' ');
+							nkp.vec[m]=atof(tmp.c_str());
+						}
+
+						list[l]=nkp;
+					}
+					vkpl[k]=list;
 				}
-
-				list.push_back(nkp);
-				// if(j<5)
-				// {
-				// 	cout<<"x : "<<list[j].x<<endl;
-				// 	cout<<"y : "<<list[j].y<<endl;
-				// 	cout<<"Scale : "<<list[j].scale<<endl;
-				// }
-
+				nakp[j]=vkpl;
 			}
-			std::vector< keypointslist > vkps(1,list);
-			asift_keypoints akps(1,vkps);
-			_keys[i]=akps;
+			_keys[i]=nakp;
 			// std::getline(ref_file, line);
 		}
 	}
@@ -763,6 +688,156 @@ bool ASIFT_matcher::loadReferences(const char* ref_path)
 	return true;
 }
 
+// bool ASIFT_matcher::saveReferences(const char* ref_path) const
+// {
+// 	// Write all the keypoints (row, col, scale, orientation, desciptor (128 integers))
+// 	std::ofstream file_key1(ref_path);
+// 	if (file_key1.is_open())
+// 	{
+// 		file_key1<<_nb_refs<<" "<<std::endl;
+// 		for(unsigned int j=0; j<_keys.size();j++)
+// 		{
+// 			asift_keypoints kps =_keys[j];
+// 			// Follow the same convention of David Lowe: 
+// 			// the first line contains the number of keypoints and the length of the desciptors (128) 
+// 			// Added number of tilts
+// 			// Added sizes
+// 			file_key1 << _num_keys[j] << " " << VecLength << " " <<_size_refs[j].first<<" "<<_size_refs[j].second<<" "<<std::endl; //<<_num_tilts[j] << " "
+// 			for (int tt = 0; tt < (int) kps.size(); tt++) //kps.size = num_tilt
+// 			{
+// 				for (int rr = 0; rr < (int) kps[tt].size(); rr++)
+// 				{
+// 					keypointslist::iterator ptr = kps[tt][rr].begin();
+// 					for(int i=0; i < (int) kps[tt][rr].size(); i++, ptr++)	
+// 					{
+// 						file_key1 << _zoom_refs[j]*ptr->x << " " << _zoom_refs[j]*ptr->y << " " << _zoom_refs[j]*ptr->scale << " " << ptr->angle;
+
+// 						for (int ii = 0; ii < (int) VecLength; ii++)
+// 						{
+// 							file_key1 << " " << ptr->vec[ii];
+// 						}
+						
+// 						file_key1 << std::endl;
+// 					}
+// 				}	
+// 			}
+// 			// file_key1<<std::endl;
+// 		}
+// 	}
+// 	else 
+// 	{
+// 		std::cerr << "Unable to open the file :"<<ref_path;
+// 		return false;
+// 	}
+
+// 	file_key1.close();
+// 	return true;
+// }
+
+
+//Load reference data necessary for the matching 
+//Doesn't load references images or Sift parameters
+//TODO : split data between different tilts
+// bool ASIFT_matcher::loadReferences(const char* ref_path)
+// {
+// 	std::ifstream ref_file(ref_path);
+// 	std::string line, tmp;
+// 	std::stringstream iss;
+// 	pair<int,int> size_tmp;
+// 	if (ref_file.is_open())
+// 	{
+// 		std::getline(ref_file, line);
+// 		std::string::size_type sz;
+// 		// _nb_refs = std::stoi(line, &sz); //C++11
+// 		_nb_refs = atoi(line.c_str());
+// 		_keys = std::vector<asift_keypoints>(_nb_refs);
+// 		_num_keys = std::vector< int >(_nb_refs);
+// 		_size_refs= std::vector< pair<int,int> >(_nb_refs);
+// 		_num_tilts = std::vector< int >(_nb_refs,1);
+// 		_zoom_refs = std::vector<float>(_nb_refs,1);
+// 		for(unsigned int i = 0; i<_nb_refs;i++)
+// 		{
+// 			std::getline(ref_file, line);
+// 			std::stringstream iss(line);
+
+// 			std::getline(iss,tmp,' ');
+// 			_num_keys[i]=atoi(tmp.c_str());
+
+// 			std::getline(iss,tmp,' ');
+// 			if(VecLength!=atoi(tmp.c_str()))
+// 			{
+// 				std::cerr<<"Error VecLength doesn't correspond..."<<std::endl;
+// 				return false;
+// 			}
+
+// 			std::getline(iss,tmp,' ');
+// 			size_tmp.first=atoi(tmp.c_str());
+
+// 			std::getline(iss,tmp,' ');
+// 			size_tmp.second=atoi(tmp.c_str());
+
+// 			_size_refs[i]=size_tmp;
+
+// 			std::getline(iss,tmp,' ');
+// 			_num_tilts[i]=atoi(tmp.c_str());
+
+// 			keypointslist list;
+// 			for(unsigned int j =0; j<(unsigned int)_num_keys[i];j++)
+// 			{
+// 				keypoint nkp;
+
+// 				std::getline(ref_file, line);
+// 				std::stringstream iss(line);
+// 				// if(j==0)
+// 				// 	cout<<line<<endl;
+
+// 				std::getline(iss,tmp,' ');
+// 				// std::stof(nb_ref, nkp.x); //C++11
+// 				nkp.x=atof(tmp.c_str());
+// 				// if(j<5)
+// 				// 	cout<<"x : "<<nkp.x<<endl;
+// 				std::getline(iss,tmp,' ');
+// 				nkp.y=atof(tmp.c_str());
+// 				// if(j<5)
+// 				// 	cout<<"y : "<<nkp.y<<endl;
+// 				std::getline(iss,tmp,' ');
+// 				nkp.scale=atof(tmp.c_str());
+// 				// if(j<5)
+// 				// 	cout<<"Scale : "<<nkp.scale<<endl;
+// 				std::getline(iss,tmp,' ');
+// 				nkp.angle=atof(tmp.c_str());
+
+// 				for(unsigned int k=0; k<(int) VecLength; k++)
+// 				{
+// 					std::getline(iss,tmp,' ');
+// 					nkp.vec[k]=atof(tmp.c_str());
+// 				}
+
+// 				list.push_back(nkp);
+// 				// if(j<5)
+// 				// {
+// 				// 	cout<<"x : "<<list[j].x<<endl;
+// 				// 	cout<<"y : "<<list[j].y<<endl;
+// 				// 	cout<<"Scale : "<<list[j].scale<<endl;
+// 				// }
+
+// 			}
+// 			std::vector< keypointslist > vkps(1,list);
+// 			asift_keypoints akps(1,vkps);
+// 			_keys[i]=akps;
+// 			// std::getline(ref_file, line);
+// 		}
+// 	}
+// 	else 
+// 	{
+// 		std::cerr << "Unable to open the file :"<<ref_path;
+// 		return false;
+// 	}
+
+// 	ref_file.close();
+// 	return true;
+// }
+
 ASIFT_matcher& ASIFT_matcher::operator=(const ASIFT_matcher& m)
 {
 
@@ -792,10 +867,10 @@ void ASIFT_matcher::print() const
 {
 	for(unsigned int i=0; i< _keys.size();i++)
 	{
-		cout<<"Ref size:"<<i<<" - size :"<<_keys[i].size()<<endl;
+		cout<<"Ref :"<<i<<" - Nb tilts : "<<_num_tilts[i]<< " - Nb keys : "<< _num_keys[i]<<endl;
 		for(unsigned int j=0; j<_keys[i].size();j++)
 		{
-			cout<<"	"<<j<<" - size :"<<_keys[i][j].size()<<endl;
+			cout<<"	Tilt "<<j<<" - size :"<<_keys[i][j].size()<<endl;
 			for(unsigned int k=0; k<_keys[i][j].size();k++)
 			{
 				cout<<"		"<<k<<" - size :"<<_keys[i][j][k].size()<<endl;

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp

@@ -66,16 +66,17 @@ public:
 	const siftPar& getSiftPar() const{ return _siftParam;}
 	void setSiftPar(const siftPar &newSiftPar){ _siftParam = newSiftPar;}
 	bool isResizingImg() const{ return _resize_imgs;}
-	void setResizeImg(bool resize_imgs){ _resize_imgs=resize_imgs;}
+	void resizeImg(bool resize_imgs){ _resize_imgs=resize_imgs;}
 	bool isShowingDebug() const{ return _showDebug;}
 	void showDebug(bool showDebug){ _showDebug=showDebug;}
+	bool isShowingInfo() const{ return _showInfo;}
+	void showInfo(bool showInfo){ _showInfo=showInfo;}
 
 	void print() const; //Debugging function
 
 protected:
 
 	//Reference Images
-	// vector< image > _im_refs;
 	unsigned int _nb_refs;// = 0; //Number of reference images
 	vector< vector< float > > _im_refs; //Reference images used for matching
 	vector< pair<int,int> > _size_refs; //Width/Height
@@ -96,6 +97,7 @@ protected:
 	//Flags
 	bool _resize_imgs;// = false; //Resize images to IM_X/IM_Y ?
 	bool _showDebug;// = 0; //Show debugging messages ?
+	bool _showInfo; //Show info messages
 };
 
 #endif

ASIFT_tests/demo_ASIFT_src/CMakeFiles/demo_ASIFT.dir/C.includecache

@@ -6,81 +6,3 @@
 
 #IncludeRegexTransform: 
 
-./io_png/libs/png/png.h
-../zlib/zlib.h
-./io_png/libs/zlib/zlib.h
-pngconf.h
-./io_png/libs/png/pngconf.h
-crtdbg.h
--
-
-./io_png/libs/png/pngconf.h
-pngusr.h
-./io_png/libs/png/pngusr.h
-config.h
-./io_png/libs/png/config.h
-windows.h
--
-stdio.h
--
-stdio.h
--
-sys/types.h
--
-setjmp.h
--
-strings.h
--
-string.h
--
-stdlib.h
--
-fp.h
--
-math.h
--
-m68881.h
--
-mem.h
--
-alloc.h
--
-malloc.h
--
-time.h
--
-dos.h
--
-
-./io_png/libs/zlib/zconf.h
-windows.h
--
-sys/types.h
--
-unistd.h
--
-unixio.h
--
-
-./io_png/libs/zlib/zlib.h
-zconf.h
-./io_png/libs/zlib/zconf.h
-
-/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/io_png.c
-stdlib.h
--
-stdio.h
--
-math.h
--
-assert.h
--
-png.h
-/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/png.h
-png.h
--
-io_png.h
-/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/io_png.h
-
-/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/io_png.h
-

ASIFT_tests/demo_ASIFT_src/CMakeFiles/demo_ASIFT.dir/CXX.includecache

@@ -6,3 +6,117 @@
 
 #IncludeRegexTransform: 
 
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.cpp
+assert.h
+-
+stdlib.h
+-
+stdio.h
+-
+math.h
+-
+time.h
+-
+compute_asift_keypoints.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.h
+omp.h
+-
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.h
+library.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
+demo_lib_sift.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.h
+frot.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/frot.h
+fproj.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/fproj.h
+vector
+-
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.h
+stdlib.h
+-
+assert.h
+-
+numerics1.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/numerics1.h
+library.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
+filter.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/filter.h
+domain.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/domain.h
+splines.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/splines.h
+flimage.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/flimage.h
+vector
+-
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/domain.h
+numerics1.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/numerics1.h
+library.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
+splines.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/splines.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/filter.h
+library.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/flimage.h
+iostream
+-
+string
+-
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/fproj.h
+library.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
+vector
+-
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/frot.h
+library.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
+vector
+-
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
+stdio.h
+-
+stdlib.h
+-
+math.h
+-
+time.h
+-
+float.h
+-
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/numerics1.h
+stdio.h
+-
+stdlib.h
+-
+math.h
+-
+fstream
+-
+iostream
+-
+library.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/splines.h
+numerics1.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/numerics1.h
+library.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
+string.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/string.h
+vector
+-
+

ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/depend.internal

@@ -27,8 +27,6 @@ CMakeFiles/test_ASIFT.dir/ASIFT_matcher.cpp.o
  /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/library.h
  /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/numerics1.h
  /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/splines.h
- /usr/include/opencv/cv.h
- /usr/include/opencv/highgui.h
 CMakeFiles/test_ASIFT.dir/compute_asift_keypoints.cpp.o
  /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.cpp
  /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.h

ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/depend.make

@@ -26,8 +26,6 @@ CMakeFiles/test_ASIFT.dir/ASIFT_matcher.cpp.o: frot.h
 CMakeFiles/test_ASIFT.dir/ASIFT_matcher.cpp.o: library.h
 CMakeFiles/test_ASIFT.dir/ASIFT_matcher.cpp.o: numerics1.h
 CMakeFiles/test_ASIFT.dir/ASIFT_matcher.cpp.o: splines.h
-CMakeFiles/test_ASIFT.dir/ASIFT_matcher.cpp.o: /usr/include/opencv/cv.h
-CMakeFiles/test_ASIFT.dir/ASIFT_matcher.cpp.o: /usr/include/opencv/highgui.h
 
 CMakeFiles/test_ASIFT.dir/compute_asift_keypoints.cpp.o: compute_asift_keypoints.cpp
 CMakeFiles/test_ASIFT.dir/compute_asift_keypoints.cpp.o: compute_asift_keypoints.h

ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.cpp

@@ -130,7 +130,7 @@ image are set to the value of the closest image pixel.
 void ConvHorizontal(vector<float>& image, int width, int height, float *kernel, int ksize)
 {
   int rows, cols, r, c, i, halfsize;
-  float buffer[4000];
+  float buffer[5000];
   vector<float> pixels(width*height);
 
 
@@ -139,7 +139,7 @@ void ConvHorizontal(vector<float>& image, int width, int height, float *kernel,
 
   halfsize = ksize / 2;
   pixels = image;
-  assert(cols + ksize < 4000);
+  assert(cols + ksize < 5000);
 
   for (r = 0; r < rows; r++) {
     /* Copy the row into buffer with pixels at ends replicated for
@@ -165,7 +165,7 @@ void ConvHorizontal(vector<float>& image, int width, int height, float *kernel,
 void ConvVertical(vector<float>& image, int width, int height, float *kernel, int ksize)
 {
   int rows, cols, r, c, i, halfsize;
-  float buffer[4000];
+  float buffer[5000];
   vector<float> pixels(width*height);
 
   rows = height;
@@ -173,7 +173,7 @@ void ConvVertical(vector<float>& image, int width, int height, float *kernel, in
 
   halfsize = ksize / 2;
   pixels = image;
-  assert(rows + ksize < 4000);
+  assert(rows + ksize < 5000);
 
   for (c = 0; c < cols; c++) {
     for (i = 0; i < halfsize; i++)

ASIFT_tests/demo_ASIFT_src/results/matching.txt

@@ -1,6 +1,436 @@
-0  5
+539  7
 0
+315.444  258.335  287.672  258.758
+426.906  295.66  440.176  317.661
+306.55  228.25  274.809  227.61
+312.679  317.378  268.687  338.554
+311.468  251.003  283.062  249.146
+309.987  301.593  266.551  319.799
+312.535  318.82  268.482  339.697
+283.63  241.967  0  0
+343.019  242.391  0  0
+395.144  313.545  0  0
+303.021  195.407  8.55526e-38  5.89486e-38
+314.336  253.198  0  0
+321.116  255.156  74494.9  64824.8
+314.134  248.42  11892.7  10251.7
+364.865  309.114  571.198  564.546
+310.986  314.466  -637.359  -795.004
+389.821  328.222  8095.35  7442.99
+388.092  268.632  781.242  551.196
+310.763  317.685  1068.32  1345.51
+296.858  306.912  29288.6  36097.9
+359.635  237.516  41402.9  37189.9
+310.25  306.607  2411.67  2911.07
+359.629  259.769  706.376  536.012
+311.133  252.134  5070.64  4503.94
+263.032  282.079  29830.8  36533.8
+261.705  281.305  644.163  786.087
+290.293  324.426  477.522  665.354
+306.268  240.576  2216.5  1899.34
+409.254  299.176  4571.17  3548.1
+404.268  337.255  2024.92  1818.79
+397.534  326.475  1581.33  1413.61
+343.423  242.142  40846.6  30507.3
+245.403  300.282  5373.09  8106.63
+427.752  290.847  393.004  137.497
+265.624  279.468  0  0
+427.196  278.253  0  0
+269.907  286.773  1830.06  2105.53
+321.196  251.016  2692.79  2255.98
+319.28  280.167  284.902  292.662
+272.162  279.013  5821.68  6480.73
+354.189  256.061  0  0
+310.978  252.721  0  0
+318.32  306.393  0  0
+269.128  333.098  0  0
+301.284  310.745  1796.82  2253.94
+394.503  314.288  8615  7180.51
+341.087  247.786  657.814  504.132
+369.019  263.22  0  0
+319.746  255.075  887.436  772.239
+343.394  276.393  0  0
+309.982  244.483  0  0
+387.011  252.057  3118.89  2063.11
+354.904  243.256  49682.4  35674.9
+267.73  317.634  14598.2  21120.3
+393.302  272.704  1599.54  1132.27
+325.013  309.256  1711.25  2014.27
+349.2  264.32  48166.7  38595.3
+365.576  269.939  1086.77  834.093
+322.318  333.276  0  0
+325.364  307.405  0  0
+264.51  286.175  11744.5  14229.6
+325.589  238.837  8160.97  6473.84
+296.241  247.122  2627.53  2431.02
+319.537  253.996  30963.8  26842.1
+368.228  244.225  38070.8  26485.3
+357.32  238.355  0  0
+352.531  262.45  0  0
+288.85  238.642  0  0
+300.151  273.886  1590.95  1647
+369.683  252.202  7800.05  5426.99
+361.815  311.12  1393.12  1391.24
+305.399  242.426  8114.79  7167.87
+346.218  264.965  0  0
+332.406  288.152  613.468  622.116
+294.831  304.374  759.525  923.763
+316.902  313.934  0  0
+286.876  232.557  1941.8  1786.57
+402.667  265.105  9143.57  6167.83
+335.681  265.567  313.471  268.596
+409.484  260.111  0  0
+297.608  234.142  2124.83  1853.74
+286.432  243.757  1744.83  1665.72
+294.667  307.894  0  0
+283.426  255.372  0  0
+363.569  295.696  49156.8  46627.3
+425.53  281.433  37971.5  15751.4
+342.647  280.375  0  0
+348.579  264.902  0  0
+381.633  272.249  53601.6  41730
+296.867  323.421  21794.2  29371.3
+329.516  303.01  0  0
+265.848  352.511  0  0
+407.703  312.019  24882.5  20575.7
+332.091  317.175  2044.53  2441.33
+296.055  307.557  0  0
+444.294  125.151  1565.88  416.272
+342.298  296.163  33491  33843.9
+300.142  285.289  5272.72  5823.2
+359.754  246.222  2160.04  1530.11
+353.568  268.641  1342.79  1120.49
+331.55  300.466  1464.53  1635.42
+290.86  317.736  988.952  1296.62
+375.264  324.194  0  0
+296.392  237.649  527.388  476.942
+412.595  265.126  0  0
+358.168  293.516  335.679  326.18
+373.619  253.514  3795.93  2698.32
+311.271  168.823  1111.34  639.82
+401.217  261.185  2077.66  1333.29
+382.668  318.73  2217.16  2097.43
+346.813  281.22  0  0
+373.804  300.838  0  0
+374.134  303.545  3223.5  3063.42
+389.348  303.899  23619.7  20811.4
+408.698  261.44  2996.5  1925.09
+389.632  299.192  1145.44  999.426
+288.348  320.634  21743.2  29283.9
+345.135  336.567  20856.5  25179.4
+288.348  320.634  0  0
+366.271  272.74  0  0
+305.439  173.737  28347.8  16385.3
+334.061  242.239  43779.6  34537.4
+331.651  288.835  622.236  626.668
+434.417  107.519  0  0
+363.091  273.811  3438.61  3003.18
+293.874  356.488  705.063  1067.37
+370.197  304.97  0  0
+282.805  264.13  0  0
+360.322  331.099  7301.11  5067.38
+334.52  293.223  7256.71  7375.52
+368.493  300.185  346.867  333.365
+334.061  242.239  0  0
 1
+399.718  288.062  277.33  326.888
+396.156  187.19  411.45  231.444
+295.236  216.447  348.989  232.799
+294.391  216.291  346.461  238.332
+335.279  108.273  363.052  244.661
+288.392  161.936  354.401  243.317
+331.205  316.229  308.971  278.104
+353.149  271.48  0  0
+420.158  130.627  0  0
+287.235  150.893  0  0
+281.825  107.517  9.9238e-38  8.29566e-38
+334.52  293.223  0  0
+295.787  239.941  84296.2  61041.8
+305.174  101.745  14844.3  9246.4
+380.191  150.726  607.052  355.205
+382.588  284.484  -602.438  -748.12
+306.001  95.6839  7700.34  4476.44
+326  289.157  649.716  646.544
+379.107  156.775  1451.93  883.936
+370.665  137.782  49649.4  28934.7
+242.405  95.8541  42214.1  37096.1
+414.896  268.39  2749.2  3183.61
+326.609  287.896  686.092  644.26
+305.788  316.286  5741.93  6242.99
+299.54  327.777  40136.5  52731.5
+362.082  292.882  1143.1  883.176
+181.107  38.3101  863.158  503.8
+365.118  91.1141  3603.11  1967.16
+249.806  171.61  4203.24  3287.7
+248.845  172.232  1910.85  1495.44
+265.848  352.511  1209.93  1536.16
+202.375  126.468  39881  24727.4
+316.741  30.4016  10443.3  9743.85
+163.845  128.749  242.354  273.886
+371.079  308.799  0  0
+405.639  100.986  0  0
+259.714  304.239  2570.62  3053.5
+409.871  262.759  2825.59  3502.82
+443.762  165.05  210.739  286.967
+410.385  156.962  7488.55  5266.83
+343.309  340.396  0  0
+314.576  223.709  0  0
+350.276  227.305  0  0
+324.818  307.043  0  0
+272.913  147.353  3248.17  1927.65
+338.369  98.4246  8493.32  2579.28
+408.285  291.778  693.292  269.38
+365.403  307.681  0  0
+332.693  230.119  1392.13  780.507
+343.056  27.169  0  0
+365.67  236.885  0  0
+290.392  323.935  2193.52  1596.24
+403.516  260.281  40128.2  24871.3
+241.516  162.412  20000.5  11983.5
+287.967  195.201  1184.21  672.988
+334.161  106.906  2822.46  1829.35
+316.116  238.015  62188  47402.3
+362.775  97.8837  1347.81  1002.82
+225.668  130.918  0  0
+374.116  199.668  0  0
+242.724  43.0635  17653  6543.99
 2
+335.279  108.273  293.316  320.27
+297.007  307.701  278.345  299.513
+426.761  279.107  432.432  229.327
+419.921  312.477  418.514  259.301
+426.842  290.503  429.598  250.529
+373.655  148.51  292.586  283.03
+418.235  284.603  421.399  222.742
+420.434  264.926  0  0
+352.788  335.807  0  0
+415.416  313.132  0  0
+263.815  294.09  1.10484e-37  6.4847e-38
+305.535  110.065  0  0
+412.595  265.126  106723  53235.5
+427.752  290.847  17837.2  9773.14
+408.305  313.745  669.344  416.753
+371.823  244.933  -692.27  -730.191
+402.457  146.538  6341.08  4468.78
+381.789  177.569  579.074  509.046
+274.875  343.767  1633.16  724.912
+166.112  97.4101  32377.7  33654.5
+370.878  201.527  35279.3  39546.4
+397.812  314.803  3592.43  2312.06
+296.884  213.551  577.334  500.25
+426.188  126.052  5660.75  5655.29
+427.315  314.18  59916.9  33616.2
+431.397  170.804  906.726  660.777
+400.686  325.265  811.16  534.716
+406.86  280.189  2376.87  1954.84
+416.817  179.554  3148.69  3984.16
+252.425  172.859  1479.71  969.08
+243.542  167.584  1054.68  1170.54
+399.353  268.087  46561.3  21383.7
+285.28  148.61  7844.96  7348.98
+363.665  100.581  322.701  385.172
+247.437  171.242  0  0
+314.514  259.285  0  0
+293.749  303.981  2065.82  2061.82
+333.91  295  3324.34  2350.35
+315.398  261.309  329.16  311.05
+316.128  260.593  9633.23  5710.5
+272.051  149.168  0  0
+353.832  279.852  0  0
+387.011  252.057  0  0
+326.729  353.269  0  0
+387.34  133.756  1872.7  1284.81
+181.296  90.8006  8085.02  4931.67
+266.011  359.243  429.942  550.296
+294.12  356.712  0  0
+347.414  106.03  1152.89  460.938
+367.814  243.994  0  0
+355.437  262.124  0  0
+276.116  330.028  1952  1870.14
+245.682  283.175  30593.3  40367.9
+402.196  280.041  18874.5  25204.7
+402.042  281.31  1094.17  1461.14
+334.629  104.275  2227.37  1661.22
+340.604  99.2014  53221.5  39571.3
+274.939  286.578  736.908  663.669
+312.246  85.0304  0  0
+221.133  93.7771  0  0
+406.724  181.606  13917.5  9148.03
+323.202  29.8539  5857.92  6777.65
+426.245  280.928  2586.42  1900.16
+260.451  282.346  44694.7  27185.2
+359.068  259.876  24606.2  20138.1
+273.922  279.28  0  0
+315.191  30.302  0  0
+315.191  30.302  0  0
+305.196  244.343  2197.48  2254.45
+263.032  282.079  4625.92  4033.72
+343.056  27.169  763.856  762.812
+419.921  312.477  12555.4  7779.03
 3
+295.787  239.941  327.113  241.468
+288.016  312.978  324.56  154.569
+406.981  181.27  313.085  192.006
+409.622  156.738  255.664  257.307
+240.185  45.8944  326.634  199.284
+192.247  38.5606  400.039  269.443
+254.941  19.1675  323.848  147.479
+346.521  97.2295  0  0
+333.428  104.49  0  0
+443.762  165.05  0  0
+299.82  116.172  1.03035e-37  4.68266e-38
+305.569  314.319  0  0
+397.884  269.926  78667.3  48778.1
+309.148  216.613  13085.2  10293.6
+282.013  159.02  514.543  398.765
+295.236  216.447  -750.967  -845.493
+364.446  101.421  7554.75  6391.98
+271.543  97.2385  610.084  181.188
+181.25  54.7159  1256.32  714.692
+263.994  293.329  40653  38883
+408.698  261.44  41100  17804.8
+353.822  279.499  2730.41  2397.22
+319.348  229.23  611.064  694.17
+248.303  171.551  5551.43  6253.04
+343.453  350.469  42415.4  52057.9
+248.103  163.264  1058.88  500.181
+351.767  237.628  710.112  607.616
+403.235  308.051  2840.57  2705.22
+356.193  101.327  4469.91  2918.3
+361.509  212.926  1789.72  746.505
+326.729  353.269  1135.64  221.141
+192.664  66.0166  47135.3  39752.2
+422.925  305.489  10545.2  4330.54
+251.919  34.0013  368.641  146.207
+371.643  267.371  0  0
+301.358  67.9768  0  0
+338.448  297.443  2989.35  1886.22
+315.191  30.302  3419.99  1696.27
+282.86  225.062  274.304  166.415
+392.102  332.007  9488.22  9165.17
+373.4  108.098  0  0
+351.356  332.102  0  0
+271.845  150.977  0  0
+272.826  151.95  0  0
+298.303  116.572  1878.42  884.044
+264.599  280.372  8349.59  3651.67
+414.621  263.536  755.64  318.89
+267.478  285.116  0  0
+266.254  281.022  1145.67  528.936
+260.7  283.611  0  0
+228.901  101.484  0  0
+424.669  265.691  2089.66  2893.42
+296.665  111.453  37341.7  17283.1
+299.041  110.262  18116.5  8033.05
+261.828  292.432  1572.14  1040.04
+351.247  333.123  2336.26  1221.97
+369.369  137.12  37249.3  11630.9
+346.973  242.49  770.226  189.503
+244.898  104.021  0  0
+384.189  157.394  0  0
+319.406  353.887  13593  7799.06
+382.779  91.4915  11543  7359.17
+272.025  217.951  2564.88  3573.12
+290.402  213.275  26526.3  24223.5
+343.056  27.169  25479.8  12931.7
+272.025  217.951  0  0
 4
+5
+400.989  334.183  422.047  414.724
+313.356  60.9414  125.826  279.853
+431.595  280.967  465.697  333.614
+358.61  244.591  370.732  238.845
+368.31  313.691  423.186  184.998
+289.624  184.547  302.475  223.25
+400.686  325.265  426.843  414.985
+387.881  192.38  0  0
+375.877  170.355  0  0
+346.689  295.032  0  0
+425.693  277.997  1.36351e-37  1.01756e-37
+272.132  149.347  0  0
+356.018  269.283  110482  86978.2
+290.113  114.274  14743.6  12418.8
+310.023  326.464  679.756  655.473
+434.242  221.135  -650.438  -624.074
+346.789  96.6478  8450.53  6624.66
+372.378  118.139  745.478  523.338
+276.795  260.641  1705.25  699.672
+388.234  262.424  51063.2  30217.9
+357.376  317.348  46950.4  36224.3
+417.924  312.039  3283.53  1964.79
+268.756  275.036  780.072  620.704
+284.23  148.854  3853.1  4747.09
+346.422  234.012  61136.2  33666.2
+399.52  166.664  1116.39  989.154
+282.264  340.608  751.744  581.762
+371.08  265.905  2936.82  2359.9
+316.615  221.693  4062.7  3429.69
+398.745  305.813  1795.16  1221.89
+228.696  88.3114  1259.54  847.908
+320.275  252.553  48114  42793.9
+364.778  310.381  10662.8  8791.21
+364.865  309.114  366.987  301.237
+434.305  111.202  0  0
+386.775  230.137  0  0
+340.604  99.2014  3578.44  2892.94
+430.824  110.997  4082.31  2029.64
+167.12  107.527  165.674  273.175
+350.276  227.305  11440.8  5490.88
+401.504  273.88  0  0
+415.668  177.131  0  0
+309.488  56.6346  0  0
+299.281  373.312  0  0
+216.989  69.9899  3064.14  2746.17
+167.12  107.527  3644.83  6009.85
+6
+353.822  279.499  300.108  249.188
+427.54  288.564  350.247  248.64
+201.598  128.841  421.513  322.452
+318.787  103.48  453.075  307.593
+323.629  93.6823  270.415  129.889
+274.656  111.233  431.017  306.75
+322.024  244.067  325.105  246.355
+200.809  129.725  0  0
+326.729  353.269  0  0
+267.969  91.93  0  0
+399.372  298.281  8.02993e-38  8.36956e-38
+323.489  249.839  0  0
+427.075  283.229  67052.8  56948.3
+422.562  288.6  15676.3  11465.7
+369.494  140.566  319.604  445.693
+249.922  92.0149  -570.899  -670.775
+367.161  307.536  5625.58  5952.81
+365.403  307.681  533.752  571.45
+341.648  335.838  1078.6  854.912
+361.815  311.12  30811.6  33750
+325.49  219.844  40717.4  34745.2
+324.371  91.2047  2355.77  1791.4
+355.735  312.588  528.806  590.144
+393.514  188.838  3217.28  5336.6
+290.392  323.935  51548.6  40790.1
+402.457  146.538  779.775  593.856
+293.749  303.981  444.03  402.9
+368.606  269.915  2368.36  1575.66
+293.206  177.398  4491.48  3272.23
+294.888  176.516  2043.6  1493.12
+355.409  99.4525  926.452  696.672
+200.755  101.405  29940.4  22336.7
+329.48  294.824  6627.52  9327.5
+356.386  236.479  469.476  315.524
+374.576  128.273  0  0
+343.532  242.2  0  0
+167.293  78.7971  1505.88  2610.12
+264.69  301.195  2082.85  3041.78
+326.46  335.593  464.791  329.794
+191.405  45.3841  6087.32  8594.15
+268.514  117.022  0  0
+342.753  92.4752  0  0
+365.118  91.1141  0  0
+351.247  333.123  0  0
+272.389  335.171  1356.36  2558.36
+393.004  181.793  5085.28  3041.72
+391.573  182.046  462.298  276.52
+351.43  336.666  0  0
+295.925  112.383  658.173  1067.39
+184.393  42.515  0  0
+354.596  105.569  0  0