V1 Readme + rangement

ongoing/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp

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+/*
+ * Image matching using Affine-SIFT algorithm.
+ * Allow to find matching keypoints, filter, compute ROI & center of an object in an image, after having built the references (with at least 1 image).
+ * @author : antoine.harle@etu.upmc.Fr
+ * Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image 
+ *            Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009. 
+ * Reference: ASIFT online demo (You can try ASIFT with your own images online.) 
+ *			  http://www.ipol.im/pub/algo/my_affine_sift/
+ */
+
+#include "ASIFT_matcher.hpp"
+
+//Default constructor
+ASIFT_matcher::ASIFT_matcher(): _nb_refs(0), _total_num_matchings(0), _resize_imgs(false), _showDebug(false), _showInfo(true)
+{
+	default_sift_parameters(_siftParam);
+}
+
+/* Constuctor from keypoints references (.txt)
+ * ref_path : path to a text file with keypoints reference following the convention of saveReference function.
+ */
+ASIFT_matcher::ASIFT_matcher(const char* ref_path): ASIFT_matcher()
+{
+	if(!loadReferences(ref_path))
+	{
+		std::cerr<<"Error : Failed to load references"<<std::endl;
+	}
+}
+
+// ASIFT_matcher::~ASIFT_matcher()
+// {
+
+// }
+
+/*
+ * Add a reference image.
+ * image_path : path to the image file (support the same format than CImg / ImageMagick).
+ * num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
+ * Return true if the reference was loaded with success.
+ */
+bool ASIFT_matcher::addReference(const char* image_path, unsigned int num_tilts)
+{
+	///// Read input
+	// float * iarr1;
+ //    size_t w1, h1;
+ //    if (NULL == (iarr1 = read_png_f32_gray(image_path, &w1, &h1))) {
+ //        std::cerr << "Unable to load image file " << image_path << std::endl;
+ //        return false;
+ //    }
+ //    std::vector<float> ipixels1(iarr1, iarr1 + w1 * h1);
+	// free(iarr1); /*memcheck*/
+
+	// cout<<"Size : "<<w1<<"/"<<h1<<" - "<<ipixels1.size()<<endl;
+
+	cimg_library::CImg<float> image;
+	try
+	{
+		image.assign(image_path);
+	}
+	catch(cimg_library::CImgIOException)
+	{
+		std::cerr << "Unable to load image file " << image_path << std::endl;
+		return false;
+	}
+	//Convert to grayscale
+	cimg_library::CImg<float> gray(image.width(), image.height(), 1, 1, 0);
+	cimg_forXY(image,x,y) { 
+    // Separation of channels
+    int R = (int)image(x,y,0,0);
+    int G = (int)image(x,y,0,1);
+    int B = (int)image(x,y,0,2);
+    // Arithmetic addition of channels for gray
+    // int grayValue = (int)(0.33*R + 0.33*G + 0.33*B);
+    // Real weighted addition of channels for gray
+    int grayValueWeight = (int)(0.299*R + 0.587*G + 0.114*B);
+    // saving píxel values into image information
+    // gray(x,y,0,0) = grayValue;
+    gray(x,y,0,0) = grayValueWeight;
+	}
+
+	std::vector<float> ipixels1;
+    size_t w1=gray.width(), h1=gray.height();
+    ipixels1.assign(gray.begin(), gray.end());
+
+    if(_showInfo)
+   		std::cout<<"Building reference from "<< image_path << std::endl;
+
+    return addReference(ipixels1, w1, h1, num_tilts);
+}
+
+/*
+ * Add a reference image.
+ * image : Gray scale image. Image size must be equal to width * height.
+ * w : Width of the image.
+ * h : Height of the image.
+ * num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
+ * Return true if the reference was loaded with success.
+ */
+bool ASIFT_matcher::addReference(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
+{
+	if(image.size()!=w*h)
+	{
+		cerr<<"Error : Input image size doesn't correspond with parameters"<<endl;
+		return false;
+	}
+
+	int w1=w, h1=h;
+	vector<float> ipixels1 = image;
+
+	///// 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)
+	{
+		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;
+		
+		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;
+	}
+
+	///// Compute ASIFT keypoints
+	asift_keypoints keys;
+	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++;
+
+	if(_showInfo)
+		cout<<"Reference built in "<< difftime(tend, tstart) << " seconds." << endl
+		<<"	"<< num_keys <<" ASIFT keypoints found."<< endl;
+
+	return true;
+}
+
+/*
+ * Perform matching between an image and the references.
+ * image_path : path to the image file (support the same format than CImg / ImageMagick).
+ * num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
+ * Return number of matching keypoints found. 
+ */
+unsigned int ASIFT_matcher::match(const char* image_path, unsigned int num_tilts)
+{
+	if(_nb_refs<=0)
+	{
+		std::cerr<<"ASIFT_matcher Error : Trying to match without reference"<<std::endl;
+		return 0;
+	}
+
+	///// Read input
+	// float * iarr1;
+ //    size_t w1, h1;
+ //    if (NULL == (iarr1 = read_png_f32_gray(image_path, &w1, &h1))) {
+ //        std::cerr << "Unable to load image file " << image_path << std::endl;
+ //        return 1;
+ //    }
+ //    std::vector<float> ipixels1(iarr1, iarr1 + w1 * h1);
+	// free(iarr1); /*memcheck*/
+
+    cimg_library::CImg<float> image;
+	try
+	{
+		image.assign(image_path);
+	}
+	catch(cimg_library::CImgIOException)
+	{
+		std::cerr << "Unable to load image file " << image_path << std::endl;
+		return 0;
+	}
+	//Convert to grayscale
+	cimg_library::CImg<float> gray(image.width(), image.height(), 1, 1, 0);
+	cimg_forXY(image,x,y) { 
+    // Separation of channels
+    int R = (int)image(x,y,0,0);
+    int G = (int)image(x,y,0,1);
+    int B = (int)image(x,y,0,2);
+    // Arithmetic addition of channels for gray
+    // int grayValue = (int)(0.33*R + 0.33*G + 0.33*B);
+    // Real weighted addition of channels for gray
+    int grayValueWeight = (int)(0.299*R + 0.587*G + 0.114*B);
+    // saving píxel values into image information
+    // gray(x,y,0,0) = grayValue;
+    gray(x,y,0,0) = grayValueWeight;
+	}
+	vector<float> ipixels1;
+    size_t w1=gray.width(), h1=gray.height();
+    ipixels1.assign(gray.begin(), gray.end());
+
+    if(_showInfo)
+    	std::cout<<"Matching from "<<image_path<<std::endl;
+
+    return match(ipixels1, w1, h1, num_tilts);
+}
+
+/*
+ * Perform matching between an image and the references.
+ * image : Gray scale image. Image size must be equal to width * height.
+ * w : Width of the image.
+ * h : Height of the image.
+ * num_tilts : Number of virtual tilts applied to the image. More tilts equal to better matching but slower process. Default : 1 (no tilt). Recommended : 8.
+ * Return number of matching keypoints found. 
+ */
+unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts)
+{
+	if(image.size()!=w*h)
+	{
+		cerr<<"Error : Input image size doesn't correspond with parameters"<<endl;
+		return 0;
+	}
+
+	int w1=w, h1=h;
+	vector<float> ipixels1 = image;
+
+	///// 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)
+	{
+		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;
+		
+		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;
+	}
+
+	///// Compute ASIFT keypoints
+	asift_keypoints keys;
+	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);
+
+	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;
+
+	for(unsigned int i = 0; i<_nb_refs;i++)
+	{
+		int num_matchings = 0;
+		matchingslist matchings;
+
+		if(_showInfo)
+			cout << "Matching the keypoints..." << endl;
+		tstart = time(0);
+		try
+		{
+			num_matchings = compute_asift_matches(num_tilts, _num_tilts[i], w, h, _size_refs[i].first, _size_refs[i].second, _showDebug, keys, _keys[i], matchings, _siftParam);
+		}
+		catch(const bad_alloc& ba)
+		{
+			cerr<<"ERROR: ASIFT_matcher::match - ";
+			cerr << ba.what() << endl;
+		}
+		// cout<< _keys[i].size()<< " " << _keys[i][0].size() <<" "<< _keys[i][0][0].size()<<endl;
+
+		tend = time(0);
+		if(_showInfo)
+			cout << "Keypoints matching accomplished in " << difftime(tend, tstart) << " seconds." << endl;
+
+		_num_matchings.push_back(num_matchings);
+		_total_num_matchings += num_matchings;
+		_matchings.push_back(matchings);
+	}
+
+	return _total_num_matchings;
+}
+
+/*
+ * Compute the bounding rectangle of the matching keypoints. 
+ * Match function must have been called before and found at least one matching keypoint.
+ * x : X-coordinate of the upper-left point.
+ * y : Y-coordinate of the upper-left point.
+ * h : Height of the rectangle.
+ * w : Width of the rectangle.
+ * Return true if the ROI was succesfully found and arguments modified.
+ */
+bool ASIFT_matcher::computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const
+{
+	if(getNbMatch()==0)
+	{
+		cerr<<"Error : cannot compute ROI without matchs"<<endl;
+		return false;
+	}
+
+	pair<int,int> upLe, doRi; //UpLeft / DownRight
+	//Initialisation
+	for(unsigned int i=0;i<_matchings.size();i++)
+	{
+		if(getNbMatchs()[i]!=0)
+		{
+			upLe = make_pair(_matchings[i][0].first.x,_matchings[i][0].first.y);
+			doRi = make_pair(_matchings[i][0].first.x,_matchings[i][0].first.y);
+		}
+	}
+
+	//Compute ROI
+	for(unsigned int i=0;i<_matchings.size();i++)
+	{
+		for(unsigned int j=0;j<_matchings[i].size();j++)
+		{
+			keypoint kp = _matchings[i][j].first;
+			if(kp.x<upLe.first)
+				upLe.first = kp.x;
+			if(kp.y<upLe.second)
+				upLe.second=kp.y;
+			if(kp.x>doRi.first)
+				doRi.first=kp.x;
+			if(kp.y>doRi.second)
+				doRi.second=kp.y;
+		}
+	}
+	x=upLe.first; //Système de coordonée ? (devrait etre bon)
+	y=upLe.second;
+	h=doRi.second-y;
+	w=doRi.first-x;
+
+	return true;
+}
+
+/*
+ * Compute the centroid of the matching keypoints.
+ * Match function must have been called before and found at least one matching keypoint.
+ * cx : X-coordinate of the centroid.
+ * cy : Y-coordinate of the centroid.
+ * Return true if the ROI was succesfully found and arguments modified.
+ */
+bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
+{
+	if(getNbMatch()==0)
+	{
+		cerr<<"Error : cannot compute Center without matchs"<<endl;
+		return false;
+	}
+
+	unsigned int total_kp =0;
+	cx=0;cy=0;
+	for(unsigned int i=0;i<_matchings.size();i++)
+	{
+		for(unsigned int j=0;j<_matchings[i].size();j++)
+		{
+			keypoint kp = _matchings[i][j].first;
+			cx+=kp.x;
+			cy+=kp.y;
+		}
+		total_kp += _matchings[i].size();
+	}
+	cx/=total_kp;
+	cy/=total_kp;
+
+	return true;
+}
+
+/*
+ * Perform a standard deviation filtering on the matching keypoints.
+ * Match function must have been called before and found at least one matching keypoint.
+ * threshold : Filtering coefficient. 1-Keep 68% of the keypoints / 2-Keep 95% of the keypoints / 3-Keep 99% of the keypoints. Default : 2.
+ * Return true if the filtering is done.
+ */
+bool ASIFT_matcher::distFilter(float threshold)
+{
+	if(_showInfo)
+		cout<<"filtering keypoint..."<<endl;
+	if(getNbMatch()==0)
+	{
+		cerr<<"Error : cannot filter points without matchs"<<endl;
+		return false;
+	}
+
+	//Compute standard deviation
+	int cx, cy;
+	unsigned int total_kp =0;
+	unsigned int euc_dist, dist_avg =0, dist_var=0, std_dev;
+	vector< vector< int > > kp_euc_dist;
+
+	if(computeCenter(cx,cy))
+	{
+		// cout<<"Center : "<<cx<<" / "<<cy<<endl;
+
+		//Compute means/average distance to center + euclidian distances to center for each keypoint
+		for(unsigned int i=0;i<_matchings.size();i++)
+		{
+			vector<int> temp_euc_dist;
+			for(unsigned int j=0;j<_matchings[i].size();j++)
+			{
+				keypoint kp = _matchings[i][j].first;
+				euc_dist =sqrt((kp.x-cx)*(kp.x-cx)+(kp.y-cy)+(kp.y-cy));
+				dist_avg+=euc_dist;
+				temp_euc_dist.push_back(euc_dist);
+			}
+			total_kp += _matchings[i].size();
+			kp_euc_dist.push_back(temp_euc_dist);
+		}
+		dist_avg/=total_kp;
+		// cout<<"Dist avg: "<<dist_avg<<endl;
+
+		//Compute variance
+		for(unsigned int i=0;i<_matchings.size();i++)
+		{
+			for(unsigned int j=0;j<_matchings[i].size();j++)
+			{
+				euc_dist =kp_euc_dist[i][j];
+				dist_var+=(euc_dist-dist_avg)*(euc_dist-dist_avg);
+			}
+		}
+		dist_var/=total_kp;
+
+		//Compute standard deviation
+		std_dev=sqrt(dist_var);
+		// cout<<"Standard Deviation : "<<std_dev<<endl;
+
+		//Filter
+		vector< matchingslist > filtered_match;
+
+		for(unsigned int i=0;i<_matchings.size();i++)
+		{
+			matchingslist new_match;
+			for(unsigned int j=0;j<_matchings[i].size();j++)
+			{
+				euc_dist =kp_euc_dist[i][j];
+
+				if(euc_dist<dist_avg+threshold*std_dev) //Filtering Condition
+				{
+					new_match.push_back(_matchings[i][j]);
+				}
+			}
+			filtered_match.push_back(new_match);
+			_num_matchings[i]=new_match.size();
+		}
+
+		//Update number of remaining points
+		_total_num_matchings = 0;
+		for(unsigned int i=0; i<_num_matchings.size();i++)
+			_total_num_matchings+=_num_matchings[i];
+
+		//Save filtered matchs
+		_matchings = filtered_match;
+
+		return true;
+	}
+	return false;
+}
+
+/*
+ * Save reference data necessary for the matching.
+ * ref_path : path were the reference data will be saved (.txt).
+ * Follow a modified convention of David Lowe (SIFT keypoints) :
+ * - Number of reference.
+ * - Number of keypoints in the reference / Length of the descriptors (128) / Width of the reference / Height of the reference / Number of tilts.
+ * -
+ * - Keypoints (row, col, scale, orientation, desciptor (128 integers)).
+ * Return true if the reference data was successfully saved.
+ */
+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 (* 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++)	
+					{
+						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.
+ * ref_path : path from were the reference data will be loaded (.txt).
+ * Follow a modified convention of David Lowe (SIFT keypoints) :
+ * - Number of reference.
+ * - Number of keypoints in the reference / Length of the descriptors (128) / Width of the reference / Height of the reference / Number of tilts.
+ * -
+ * - Keypoints (row, col, scale, orientation, desciptor (128 integers)).
+ * Return true if the reference data was successfully loaded.
+ */
+bool ASIFT_matcher::loadReferences(const char* ref_path)
+{
+	std::ifstream ref_file(ref_path);
+	std::string line, tmp;
+	std::stringstream iss;
+	pair<int,int> img_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);
+		_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,' ');
+			img_size_tmp.first=atoi(tmp.c_str());
+
+			std::getline(iss,tmp,' ');
+			img_size_tmp.second=atoi(tmp.c_str());
+
+			_size_refs[i]=img_size_tmp;
+
+			std::getline(iss,tmp,' ');
+			_num_tilts[i]=atoi(tmp.c_str());
+
+			asift_keypoints nakp(_num_tilts[i]);
+			
+			for(unsigned int j =0; j<(unsigned int)_num_tilts[i];j++)
+			{
+				std::getline(ref_file, line);
+				std::stringstream iss(line);
+
+				int veclist_size_tmp = atoi(line.c_str());
+
+				std::vector< keypointslist > vkpl(veclist_size_tmp);
+
+				for(unsigned int k =0; k<(unsigned int)veclist_size_tmp;k++)
+				{
+					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;
+				}
+				nakp[j]=vkpl;
+			}
+			_keys[i]=nakp;
+			// std::getline(ref_file, line);
+		}
+	}
+	else 
+	{
+		std::cerr << "Unable to open the file :"<<ref_path;
+		return false;
+	}
+
+	ref_file.close();
+	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;
+// }
+
+/*
+ * Assignation operator.
+ * m : ASIFT matcher object to copy.
+ */
+ASIFT_matcher& ASIFT_matcher::operator=(const ASIFT_matcher& m)
+{
+
+	_nb_refs=m.getNbRef();
+	_im_refs=m.getRefImgs();
+	_size_refs=m.getSizeRef();
+	_zoom_refs=m.getZoomRef();
+
+	_num_keys=m.getNumKeys();
+	_num_tilts=m.getNumTilts();
+	_keys=m.getKeys();
+
+	_total_num_matchings=m.getNbMatch();
+	_num_matchings=getNbMatchs();
+	_matchings=m.getMatch();
+
+	_siftParam=m.getSiftPar();
+
+	_resize_imgs=m.isResizingImg();
+	_showDebug=m.isShowingDebug();
+
+	return *this;
+}
+
+//Debugging function : print content form the ASIFT matcher.
+void ASIFT_matcher::print() const
+{
+	for(unsigned int i=0; i< _keys.size();i++)
+	{
+		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<<"	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;
+				double sx=0,sy=0,ss=0,sa=0, sv=0;
+				for(unsigned int l=0; l<_keys[i][j][k].size();l++)
+				{
+					sx+=_keys[i][j][k][l].x;
+					sy+=_keys[i][j][k][l].y;
+					ss+=_keys[i][j][k][l].scale;
+					sa+=_keys[i][j][k][l].angle;
+					for(unsigned int v=0;v<VecLength;v++)
+					{
+						sv+=_keys[i][j][k][l].vec[v];
+					}
+					// cout<<" 		"<<sx<<"-"<<sy<<"-"<<ss<<"-"<<sa<<"-"<<sv<<endl;
+				}
+				cout<<" 		"<<sx<<"-"<<sy<<"-"<<ss<<"-"<<sa<<"-"<<sv<<endl;
+			}
+		}
+	}
+}

ongoing/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp

@@ -0,0 +1,114 @@
+/*
+ * Image matching using Affine-SIFT algorithm.
+ * Allow to find matching keypoints, filter, compute ROI & center of an object in an image, after having built the references (with at least 1 image).
+ * @author : antoine.harle@etu.upmc.Fr
+ * Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image 
+ *            Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009. 
+ * Reference: ASIFT online demo (You can try ASIFT with your own images online.) 
+ *			  http://www.ipol.im/pub/algo/my_affine_sift/
+ */
+
+
+#ifndef ASIFTMATCHER_HPP
+#define ASIFTMATCHER_HPP
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <time.h>
+#include <vector>
+#include <sstream>
+
+#ifdef _OPENMP
+#include <omp.h>
+#endif
+
+#include "demo_lib_sift.h"
+// #include "io_png/io_png.h"
+
+#include "library.h"
+#include "frot.h"
+#include "fproj.h"
+#include "compute_asift_keypoints.h"
+#include "compute_asift_matches.h"
+
+#include "CImg.h" //Need ImageMagick package
+
+# define IM_X 800
+# define IM_Y 600
+
+using namespace std;
+
+typedef vector< vector< keypointslist > > asift_keypoints;
+
+class ASIFT_matcher
+{
+public:
+	ASIFT_matcher();//Default constructor.
+	ASIFT_matcher(const char* ref_path); //Constuctor from keypoints references (.txt).
+	ASIFT_matcher(const ASIFT_matcher& matcher) { *this = matcher;} //Copy constructor.
+	// virtual ~ASIFT_matcher();
+
+	bool addReference(const char* image_path, unsigned int num_tilts =1); //Add a reference image.
+	bool addReference(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts =1); //Add a reference image.
+	unsigned int match(const char* image_path, unsigned int num_tilts =1); //Perform matching between an image and the references.
+	unsigned int match(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts =1); //Perform matching between an image and the references.
+	bool computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const; //Compute the bounding rectangle of the mathcing keypoints.
+	bool computeCenter(int& cx, int& cy) const; //Compute the centroid of the matching keypoints.
+	bool distFilter(float threshold =2); //Perform a standard deviation filtering on the matching keypoints.
+
+	bool saveReferences(const char* ref_path) const; //Save reference data necessary for the matching.
+	bool loadReferences(const char* ref_path); //Load reference data necessary for the matching.
+
+	ASIFT_matcher& operator=(const ASIFT_matcher& m); //Assignation operator.
+
+	//Setter/Getter
+	unsigned int getNbRef() const{ return _nb_refs;}
+	const vector< vector< float > >& getRefImgs() const{ return _im_refs;}
+	const vector< pair<int,int> >& getSizeRef() const{ return _size_refs;}
+	const vector<float>& getZoomRef() const{ return _zoom_refs;}
+	const std::vector<int>& getNumKeys() const{ return _num_keys;}
+	const std::vector<int>& getNumTilts() const{ return _num_tilts;}
+	const std::vector< asift_keypoints >& getKeys() const{ return _keys;}
+	const vector < unsigned int >& getNbMatchs() const{ return _num_matchings;}
+	unsigned int getNbMatch() const{ return _total_num_matchings;}
+	const vector< matchingslist >& getMatch() const{ return _matchings;}
+	vector< matchingslist >& getMatch(){ return _matchings;}
+	const siftPar& getSiftPar() const{ return _siftParam;}
+	void setSiftPar(const siftPar &newSiftPar){ _siftParam = newSiftPar;}
+	bool isResizingImg() const{ return _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 : print content form the ASIFT matcher.
+
+protected:
+
+	//Reference Images
+	unsigned int _nb_refs;//Number of reference images
+	vector< vector< float > > _im_refs; //Reference images used for matching
+	vector< pair<int,int> > _size_refs; //Width/Height
+	vector<float> _zoom_refs; //Zoom coeffs
+
+	//Reference ASIFT Keypoints
+	vector< int > _num_keys; //Number of keypoint/reference
+	vector< int > _num_tilts; //Number of tilts/reference (Speed VS Precision)
+	vector< asift_keypoints > _keys; //Reference keypoints
+
+	//Matchs
+	unsigned int _total_num_matchings; //Number of matching keypoints.
+	vector < unsigned int > _num_matchings; //Number of match/reference
+	vector< matchingslist > _matchings; //Matching keypoints
+
+	siftPar _siftParam;	//SIFT parameters
+
+	//Flags
+	bool _resize_imgs;//Resize images to IM_X/IM_Y ?
+	bool _showDebug;//Show debugging messages ?
+	bool _showInfo; //Show info messages
+};
+
+#endif

ongoing/ASIFT_tests/demo_ASIFT_src/CMakeCache.txt

@@ -0,0 +1,345 @@
+# This is the CMakeCache file.
+# For build in directory: /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Value Computed by CMake
+ASIFT_BINARY_DIR:STATIC=/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src
+
+//Value Computed by CMake
+ASIFT_SOURCE_DIR:STATIC=/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src
+
+//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or
+// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel.
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler.
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//Flags used by the compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the compiler during debug builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the compiler during release minsize builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler.
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//Flags used by the compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the compiler during debug builds.
+CMAKE_C_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the compiler during release minsize builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Flags used by the linker.
+CMAKE_EXE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
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+
+//Flags used by the linker during Release with Debug Info builds.
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+
+//Value Computed by CMake
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+
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+
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+
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+
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+
+//Value Computed by CMake
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+
+//Value Computed by CMake
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+
+//Value Computed by CMake
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+
+//Value Computed by CMake
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+
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+
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+
+//Dependencies for target
+zlib_LIB_DEPENDS:STATIC=
+
+//Value Computed by CMake
+zlib_SOURCE_DIR:STATIC=/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib
+
+
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+# INTERNAL cache entries
+########################
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ongoing/ASIFT_tests/demo_ASIFT_src/CMakeLists.txt

@@ -0,0 +1,58 @@
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+# Author : Pierre Moulon
+# Date : December 2010.
+# README :
+#          The following cmake works for windows.
+#	Openmp is accessible only on the professionnal version of Visual Studio.
+# 	In order to use OPENMP in visual your have to add the preprocessor _OPENMP
+# 	and enable OPENMP library in C/C++/Language.
+PROJECT(ASIFT)
+
+ADD_SUBDIRECTORY(io_png)
+ADD_SUBDIRECTORY(libMatch)
+ADD_SUBDIRECTORY(libNumerics)
+
+FIND_PACKAGE(OpenMP) 
+if (OPENMP_FOUND) 
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+endif (OPENMP_FOUND)
+
+IF(MSVC)
+   ADD_DEFINITIONS(/arch:SSE2)
+ENDIF(MSVC)
+
+IF(CMAKE_COMPILER_IS_GNUCXX)
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-strict-aliasing")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wextra -Wno-write-strings")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated -ansi")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2 -ftree-vectorize -funroll-loops")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -L/usr/X11R6/lib -lm -lpthread -lX11")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+ENDIF(CMAKE_COMPILER_IS_GNUCXX)
+
+
+set(ASIFT_srcs
+	numerics1.cpp frot.cpp splines.cpp fproj.cpp
+	library.cpp flimage.cpp filter.cpp
+	demo_lib_sift.cpp compute_asift_keypoints.cpp
+	compute_asift_matches.cpp
+	orsa.cpp #demo_ASIFT.cpp
+
+	#ASIFT_matcher.cpp
+
+	io_png/io_png.c)
+	
+include_directories(.
+					./io_png
+					./io_png/libs/png
+)
+					
+					
+add_executable(demo_ASIFT demo_ASIFT.cpp ${ASIFT_srcs})
+TARGET_LINK_LIBRARIES(demo_ASIFT png zlib Match Numerics)
+
+#find_package( OpenCV REQUIRED )
+add_executable(test_ASIFT test_ASIFT.cpp ASIFT_matcher.cpp ${ASIFT_srcs})
+TARGET_LINK_LIBRARIES(test_ASIFT png zlib Match Numerics X11)
+

ongoing/ASIFT_tests/demo_ASIFT_src/CMakeLists.txt~

@@ -0,0 +1,58 @@
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+# Author : Pierre Moulon
+# Date : December 2010.
+# README :
+#          The following cmake works for windows.
+#	Openmp is accessible only on the professionnal version of Visual Studio.
+# 	In order to use OPENMP in visual your have to add the preprocessor _OPENMP
+# 	and enable OPENMP library in C/C++/Language.
+PROJECT(ASIFT)
+
+ADD_SUBDIRECTORY(io_png)
+ADD_SUBDIRECTORY(libMatch)
+ADD_SUBDIRECTORY(libNumerics)
+
+FIND_PACKAGE(OpenMP) 
+if (OPENMP_FOUND) 
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+endif (OPENMP_FOUND)
+
+IF(MSVC)
+   ADD_DEFINITIONS(/arch:SSE2)
+ENDIF(MSVC)
+
+IF(CMAKE_COMPILER_IS_GNUCXX)
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-strict-aliasing")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wextra -Wno-write-strings")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated -ansi")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2 -ftree-vectorize -funroll-loops")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -L/usr/X11R6/lib -lm -lpthread -lX11")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+ENDIF(CMAKE_COMPILER_IS_GNUCXX)
+
+
+set(ASIFT_srcs
+	numerics1.cpp frot.cpp splines.cpp fproj.cpp
+	library.cpp flimage.cpp filter.cpp
+	demo_lib_sift.cpp compute_asift_keypoints.cpp
+	compute_asift_matches.cpp
+	orsa.cpp #demo_ASIFT.cpp
+
+	#ASIFT_matcher.cpp
+
+	io_png/io_png.c)
+	
+include_directories(.
+					./io_png
+					./io_png/libs/png
+)
+					
+					
+add_executable(demo_ASIFT demo_ASIFT.cpp ${ASIFT_srcs})
+TARGET_LINK_LIBRARIES(demo_ASIFT png zlib Match Numerics)
+
+#find_package( OpenCV REQUIRED )
+add_executable(test_ASIFT test_ASIFT.cpp ASIFT_matcher.cpp ${ASIFT_srcs})
+TARGET_LINK_LIBRARIES(test_ASIFT zlib Match Numerics X11)
+

ongoing/ASIFT_tests/demo_ASIFT_src/LICENSE.txt

@@ -0,0 +1,72 @@
+Copyright (c) 2011, Guoshen Yu and Jean-Michel Morel
+All rights reserved.
+
+The source code files in this directory implement as tightly as 
+possible algorithms described in this IPOL article. They are made 
+available to the exclusive aim of serving as scientific tools enabling 
+the verification of the soundness and completeness of the algorithmic 
+descriptions.
+
+These source codes implement an algorithm possibly linked to the patent 
+[1][2]. Compiling or running this code may violate patents in certain 
+countries. For this reason, the use of the source files 
+- demo_ASIFT.cpp
+- compute_asift_keypoints.cpp
+- compute_asift_matches.cpp
+- demo_lib_sift.cpp
+may be restricted in certain countries to non profit research and non profit 
+educational purposes. In certain countries, redistribution or commercial 
+use of these source files may require the  consent of the patent owner. 
+
+[1] Jean-Michel Morel and Guoshen Yu,  Method and device for the invariant 
+affine recognition recognition of shapes (WO/2009/150361), patent pending.
+
+[2] David Lowe  "Method and apparatus for identifying scale invariant 
+features in an image and use of same for locating an object in an 
+image",  U.S. Patent 6,711,293.
+
+In short, be careful before you download, compile, use, modify, or 
+redistribute these source codes. The situation being different for every 
+country and changing over time, it is your responsibility to check that 
+you are not infringing a patent by using this source code. IPOL therefore 
+invites potential users to consult a patent lawyer. If and only if you are
+free from any patent restriction, then you can enjoy the BSD license terms.
+
+The source code in the subdirectory third_party comes from the Eigen 
+library, which is LGPL-licensed.
+(see http://www.gnu.org/copyleft/lesser.html)
+
+fproj.cpp, frot.cpp, orsa.cpp, libMatch, libNumerics
+copyright (C) 2007-2010, Lionel Moisan <Lionel.Moisan@parisdescartes.fr>,
+Universite Paris Descartes, distributed under the BSD license.
+
+With the exception of the files mentioned above, redistribution and use 
+in source and binary forms, with or without modification, are permitted
+provided that the following conditions are met: the rest of usual BSD 
+license follows.
+
+BSD LICENSE
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+  * Redistributions of source code must retain the above copyright
+    notice, this list of conditions and the following disclaimer.
+  * Redistributions in binary form must reproduce the above
+    copyright notice, this list of conditions and the following
+    disclaimer in the documentation and/or other materials provided
+    with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+This license file must be retained with all copies of the software,
+including any modified or derivative versions.

ongoing/ASIFT_tests/demo_ASIFT_src/README.txt

@@ -0,0 +1,267 @@
+Demo code for Affine-SIFT (ASIFT) image matching
+-------------------------------------------------------------------------
+-------------------------------------------------------------------------
+Jean-Michel Morel (Jean-Michel Morel <morel@cmla.ens-cachan.fr>)
+Guoshen Yu (yu@cmap.polytechnique.fr)
+
+Version 2.2, April. 10, 2010
+
+This directory contains the C++ code for ASIFT, a fully affine invariant image 
+matching algorithm. 
+
+************************** Unix/Linux/Mac Users **************************
+For Unix/Linux and Mac users, the code is ready to be compiled. The 
+executable adapted to your computer system is generated after compiling.
+**************************************************************************
+
+***************************** Windows Users ******************************
+For Windows users, the executable as well as the code is provided. 
+(For the executable, you need to download separately the installation file from 
+http://www.ipol.im/pub/algo/my_affine_sift/ .)
+**************************************************************************
+
+**************************** Matlab Interface ****************************
+Although the ASIFT program is standalone and can be executed without Matlab,
+a Matlab interface is provided (for Unix/Linux/Mac/Windows users). 
+**************************************************************************
+
+Source code compilation and software usage across platforms is detailed in this
+manual. If you have any problem using the this program, please contact Guoshen Yu 
+yu@cmap.polytechnique.fr
+				   
+For more information about ASIFT, please see the web page at 
+http://www.ipol.im/pub/algo/my_affine_sift/.
+You can also try ASIFT using the online demo. The online demo allows testing
+ASIFT with your own images without installing the program. 
+
+If you use the ASIFT code or software, please cite the following paper: 
+J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image 
+Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009. 
+
+-------------------------------------------------------------------------
+-------------------------------------------------------------------------
+
+I. UNIX/LINUX/MAC USER GUIDE
+
+The source code needs to be compiled before the software can be used. 
+The compilation requires the make program, and is typically straightforward.
+
+- Library. 
+This code requires the libpng library. You can automatically download, 
+compile and include this library to the compiled program by adding the 
+LOCAL_LIBS=1 option to the make commands.
+
+- Image format. 
+Only the PNG format is supported. 
+ 
+-------------------------------------------------------------------------
+Source compilation and software usage
+1. Download the ASIFT code package and extract it. Go to that directory. 
+
+2. Compile the source code (on Unix/Linux/Mac OS). 
+There are two ways to compile the code. 
+(1) RECOMMENDED, with Open Multi-Processing multithread parallelization 
+(http://openmp.org/). Roughly speaking, it accelerates the program using the 
+multiple processors in the computer. Run
+make OMP=1
+
+OR
+(2) If the complier does not support OpenMp, run 
+make
+
+ATTENTION:
+If libpng (the official PNG reference library) is not installed in your computer, 
+an option LOCAL_LIBS=1 should be added after make. Example
+make OMP=1 LOCAL_LIBS=1
+The compilation will automatically download and compile libpng and zlib and 
+include the library to the program.
+
+3. Run ASIFT. 
+./demo_ASIFT imgIn1.png, imgIn2.png imgOutVert.png imgOutHori.png matchings.txt 
+
+keys1.txt keys2.txt
+
+-- imgIn1.png, imgIn2.png: Input images (in png format).
+-- imgOutVert.png, imgOutHori.png: Output images (vertical/horizontal concatenated). 
+The detected matches are connected by write lines.
+-- matchings.txt: The file format starts with 1 integer giving the total number 
+of matches. Then each line specifies the coordinates (col1, row1, col2, row2) 
+of a pair of matched points. (col: horizontal axis, from left to right. 
+
+row: vertical axis, from top to bottom.)
+-- keys1.txt keys2.txt: ASIFT keypoints in the two images, in the same format 
+as the SIFT keypoints of David Lowe. The file starts with 2 integers giving 
+the total number of keypoints and the length of the descriptor vector for each 
+keypoint (128). Then the location of each keypoint in the image is specified 
+by 4 floating point numbers giving subpixel column and row location, scale, 
+and orientation (in radians from -PI to PI). Finally, the invariant descriptor
+ vector for the keypoint is given as a list of 128 integers in range [0,255]. 
+-- [optional 0/1]. 1: input images resize to an area equal to 800x600 for ASIFT,
+ in keeping the aspect ratio (by default). 0: no resize. The resize is to limit
+ the ASIFT computation time. The results (output images, keypoint coordinates
+ and scales) are normalized to the original image size, so the resize is 
+"transparent" to the user. 
+
+Example, run
+./demo_ASIFT adam1.png adam2.png imgOutVert.png imgOutHori.png matchings.txt 
+
+keys1.txt keys2.txt 
+
+You get on the screen 
+"WARNING: The input images are resized to 800x600 for ASIFT. 
+         But the results will be normalized to the original image size.
+
+Computing keypoints on the two images...
+12928 ASIFT keypoints are detected. 
+8972 ASIFT keypoints are detected. 
+Keypoints computation accomplished in 24 seconds.
+Matching the keypoints...
+The two images match! 914 matchings are identified. log(nfa)=-1496.88.
+Keypoints matching accomplished in 4 seconds."
+
+-------------------------------------------------------------------------
+-------------------------------------------------------------------------
+II. WINDOWS USER GUIDE
+
+_________________________________________________________________________
+A. EXECUTABLE
+_________________________________________________________________________
+For Windows users who do not want to recompile the source code, an ASIFT executable 
+installation file can be download separately from 
+http://www.ipol.im/pub/algo/my_affine_sift/.
+
+- The provided Windows executable demo_ASIFT.exe has been compiled by the Intel C++ 
+compiler on 32-bit Windows. It is executable on both 32-bit and 64-bit Windows, 
+although it is not optimized for the latter. 
+
+- The executable has not been extensively tested. If you have any problem using it,
+please contact Guoshen Yu yu@cmap.polytechnique.fr. 
+
+Usage:
+1. Download the installation file demo_ASIFTsetp.exe from 
+http://www.ipol.im/pub/algo/my_affine_sift/
+
+2. Install the program.
+Double click the file demo_ASIFTsetp.exe. A small library distributed by Microsoft 
+(Microsoft Visual C++ 2010 Redistributable Package) will be installed to your PC. 
+The ASIFT software will be installed to C:\Program Files\demo_ASIFT
+
+3. Run ASIFT. 
+Run a Dos command prompt (you find it in Start > All Programs > Accessories 
+
+> Command Prompt)
+- Go to the ASIFT directory by typing
+cd C:\Program Files\demo_ASIFT.
+- Run the ASIFT program by typing
+demo_ASIFT adam1.png adam2.png imgOutVert.png imgOutHori.png matchings.txt 
+keys1.txt keys2.txt
+(It follows the same syntax of that for Unix/Linux/Mac described above.)
+
+You can of course move the ASIFT directory C:\Program Files\demo_ASIFT to 
+wherever that is more convenient. 
+
+-------------------------------------------------------------------------
+Troubleshooting 
+1. If you are able to run the program but the results are not written to 
+the output files, check and make sure that you have the write file permission 
+in the demo_ASIFT directory.
+
+2. Microsoft Visual Studio is NOT required to run the program. However, 
+in case you cannot run the program (for example some library or dll is missing), 
+you may try installing a Microsoft Visual Studio and then running again 
+the program. 
+
+_________________________________________________________________________
+B. SOURCE COMPILATION
+_________________________________________________________________________
+Windows users who want to recompile the source code themselves, please follow the 
+guidelines below for a smooth compilation. 
+
+It is assumed that the CMake and Visual Studio are installed. Moreover, 
+the Intel C++ compiler, which supports vectorization, is highly recommended. 
+For an optimized software execution speed, it is crucial that both OpenMP
+and vectorization are activated and effective (see below). (Note that
+the CPU must have SSE2 or higher instruction sets in order to make vectorization
+possible. The /arch:SSE2 opiton must be turned on, which should have
+been normally the case.)
+
+1. If you don't have CMake, an open-source build system,
+then download and install it from http://cmake.org
+
+2. Launch the CMake program cmake-gui.exe
+
+3. Provide the paths
+- "Where is the source code :" (the path that leads to CMakeLists.txt and 
+the ASIFT source code), e.g., E:/demo_ASIFT_src
+
+- Create a subdirectory Build under demo_ASIFT_src
+
+- "Where to build the binaries:" (the directory where build project and 
+object files will be stored), e.g., E:/demo_ASIFT_src/Build
+
+4. Press "Configure" and select "Use default native compilers" and 
+select the code IDE that you have in your machine, e.g., Visual Studio 10.
+
+5. Press "Generate". A Visual Studio solution file ASIFT.sln will
+be created under E:/demo_ASIFT_src/Build
+
+6. Launch Visual Studio 10, and open ASIFT.sln. 
+
+7. Switch the mode from Debug to Release.
+
+8. Not mandatory, but HIGHLY RECOMMENDED (for program acceleration).
+- Switch from the Microsoft Visual C++ 
+compiler to the Intel C++ compiler, if you have it. 
+
+- Turn on OpenMP
+Click the demo_ASIFT project in the Solution Explorer. Select the menu 
+Project -> Property -> Configuration Properties -> C/C++ -> Language [Intel C++]
+Set OpenMP Support to "Generate Parallel Code (/Qopenmp)"
+
+- Open demo_lib_sift.cpp under demo_ASIFT/Source Files in the Solution Explorer.
+Make the following code change in demo_lib_sift.cpp.
+unsigned short distsq = 0; ----> int distsq = 0;
+
+Note: This manipulation allows the compiler to vectorize the SIFT code
+comparison, which accelerates the ASIFT keypoint matching by a factor of
+ from 5 to 20. To have the vectorization possible, this distsq variable must
+ be in unsigned short when compiled with make on Linux/Mac, and be instead
+int when complied with the Intel C++ on Windows. Therefore 
+this format should be adapted according to the compiler. (So don't
+ forget to change it back if you want to compile the code on Linux/Mac.) 
+This vectorization is not achieved with the Visual C++ compiler. 
+
+9. Build solution. An executable will be created in Build/Release. 
+Run it in a Dos command prompt. 
+demo_ASIFT adam1.png adam2.png imgOutVert.png imgOutHori.png matchings.txt
+ keys1.txt keys2.txt
+(It follows the same syntax of that for Unix/Linux/Mac described above.)
+
+-------------------------------------------------------------------------
+-------------------------------------------------------------------------
+III. MATLAB INTERFACE (OPTIONAL)
+Run ASIFT via Matlab: Open test_demo_ASIFT.m in Matlab and execute the script. 
+The Matlab interface reads most standard image formats.
+
+-------------------------------------------------------------------------
+-------------------------------------------------------------------------
+CREDITS
+- The epipolar geometry filtering algorithm ORSA of Moisan and Stival is 
+used at the end of the ASIFT algorithm 
+to eliminate false matches. 
+http://www.math-info.univ-paris5.fr/~moisan/epipolar/
+
+Pierre Moulon contributed to the SVD subroutine of ORSA. The SVD subroutine
+uses 
+the toolbox Eigen, which is LGPL-licensed. 
+
+- We would like to thank Nicolas Limare for his help on developing the program, 
+and Pierre Moulon for his help on making the Windows compilation much easier with 
+CMake. 
+
+-------------------------------------------------------------------------
+-------------------------------------------------------------------------
+Licensing conditions
+
+This software is being made available for research purposes only. See the
+ file LICENSE in this directory for conditions of use.

ongoing/ASIFT_tests/demo_ASIFT_src/book_training/train_image_005.yml~

@@ -0,0 +1,8 @@
+Book cMo for training image 005
+rows: 4
+cols: 4
+data:
+  - [-0.2314201876, -0.9583649151, 0.1672763771, 0.09835545579]
+  - [0.7484075924, -0.06552319445, 0.6599945353, -0.0974700766]
+  - [-0.6215551242, 0.2779269699, 0.7324109687, 0.5499983612]
+  - [0; 0; 0; 1]

ongoing/ASIFT_tests/demo_ASIFT_src/book_training/train_image_006.yml~

@@ -0,0 +1,8 @@
+Book cMo for training image 008
+rows: 4
+cols: 4
+data:
+  - [0.02063568325, -0.5653102458, -0.8246202123, 0.0403687505]
+  - [0.8210674394, 0.4801939642, -0.3086454546, -0.1745029756]
+  - [0.5704580865, -0.6706996964, 0.4740669666, 0.4630312508]
+  - [0, 0, 0, 1]

ongoing/ASIFT_tests/demo_ASIFT_src/book_training/train_image_007.yml~

@@ -0,0 +1,9 @@
+Book cMo for training image 007
+rows: 4
+cols: 4
+data:
+  - [-0.03609085509, -0.3148440768, 0.9484569877, 0.04713881051]
+  - [-0.8006242946, 0.5771011583, 0.1611055304, 0.02971868344]
+  - [-0.5980787482, -0.7535432704, -0.2728998912, 0.6240615433]
+  - [0, 0, 0, 1]
+

ongoing/ASIFT_tests/demo_ASIFT_src/cmake_install.cmake

@@ -0,0 +1,52 @@
+# Install script for directory: /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  INCLUDE("/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/cmake_install.cmake")
+  INCLUDE("/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/libMatch/cmake_install.cmake")
+  INCLUDE("/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/libNumerics/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+
+IF(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+ELSE(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+ENDIF(CMAKE_INSTALL_COMPONENT)
+
+FILE(WRITE "/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/${CMAKE_INSTALL_MANIFEST}" "")
+FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES})
+  FILE(APPEND "/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/${CMAKE_INSTALL_MANIFEST}" "${file}\n")
+ENDFOREACH(file)

ongoing/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.cpp

@@ -0,0 +1,569 @@
+// Copyright (c) 2008-2011, Guoshen Yu <yu@cmap.polytechnique.fr>
+// Copyright (c) 2008-2011, Jean-Michel Morel <morel@cmla.ens-cachan.fr>
+//
+// WARNING: 
+// This file implements an algorithm possibly linked to the patent
+//
+// Jean-Michel Morel and Guoshen Yu, Method and device for the invariant 
+// affine recognition recognition of shapes (WO/2009/150361), patent pending. 
+//
+// This file is made available for the exclusive aim of serving as
+// scientific tool to verify of the soundness and
+// completeness of the algorithm description. Compilation,
+// execution and redistribution of this file may violate exclusive
+// patents rights in certain countries.
+// The situation being different for every country and changing
+// over time, it is your responsibility to determine which patent
+// rights restrictions apply to you before you compile, use,
+// modify, or redistribute this file. A patent lawyer is qualified
+// to make this determination.
+// If and only if they don't conflict with any patent terms, you
+// can benefit from the following license terms attached to this
+// file.
+//
+// This program is provided for scientific and educational only:
+// you can use and/or modify it for these purposes, but you are
+// not allowed to redistribute this work or derivative works in
+// source or executable form. A license must be obtained from the
+// patent right holders for any other use.
+//
+// 
+//*------------------------ compute_asift_keypoints -------------------------*/
+// Compute the ASIFT keypoints on the input image. 
+// 
+// Please report bugs and/or send comments to Guoshen Yu yu@cmap.polytechnique.fr
+// 
+// Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image 
+//            Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009. 
+// Reference: ASIFT online demo (You can try ASIFT with your own images online.) 
+//			  http://www.ipol.im/pub/algo/my_affine_sift/
+/*---------------------------------------------------------------------------*/
+
+
+#include <assert.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <math.h>
+#include <time.h>
+#include "compute_asift_keypoints.h"
+
+#ifdef _OPENMP
+#include <omp.h>
+#endif
+
+
+#define ABS(x)    (((x) > 0) ? (x) : (-(x)))
+
+
+/* InitSigma gives the amount of smoothing applied to the image at the
+first level of each octave.  In effect, this determines the sampling
+needed in the image domain relative to amount of smoothing.  Good
+values determined experimentally are in the range 1.2 to 1.8.
+*/
+/* float InitSigma_aa = 1.0;*/
+static float InitSigma_aa = 1.6;
+
+#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
+
+/* Gaussian convolution kernels are truncated at this many sigmas from
+the center.  While it is more efficient to keep this value small,
+experiments show that for consistent scale-space analysis it needs
+a value of about 3.0, at which point the Gaussian has fallen to
+only 1% of its central value.  A value of 2.0 greatly reduces
+keypoint consistency, and a value of 4.0 is better than 3.0.
+*/
+const float GaussTruncate1 = 4.0;
+
+
+/* --------------------------- Blur image --------------------------- */
+
+
+/* Same as ConvBuffer, but implemented with loop unrolling for increased
+speed.  This is the most time intensive routine in keypoint detection,
+so deserves careful attention to efficiency.  Loop unrolling simply
+sums 5 multiplications at a time to allow the compiler to schedule
+operations better and avoid loop overhead.  This almost triples
+speed of previous version on a Pentium with gcc.
+*/
+void ConvBufferFast(float *buffer, float *kernel, int rsize, int ksize)
+{
+  int i;
+  float *bp, *kp, *endkp;
+  float sum;
+
+  for (i = 0; i < rsize; i++) {
+    sum = 0.0;
+    bp = &buffer[i];
+    kp = &kernel[0];
+    endkp = &kernel[ksize];
+
+    /* Loop unrolling: do 5 multiplications at a time. */
+    //      while (kp + 4 < endkp) {
+    //      sum += (double) bp[0] * (double) kp[0] + (double)  bp[1] * (double) kp[1] + (double) bp[2] * (double) kp[2] +
+    //             (double) bp[3] * (double) kp[3] + (double)  bp[4] * (double) kp[4];
+    //      bp += 5;
+    //      kp += 5;		  
+    //     }
+    //      /* Do 2 multiplications at a time on remaining items. */
+    //     while (kp + 1 < endkp) {
+    //       sum += (double) bp[0] * (double) kp[0] + (double)  bp[1] * (double) kp[1];
+    //	   bp += 2;
+    //	   kp += 2;
+    //	 }
+    //      /* Finish last one if needed. */
+    //		if (kp < endkp) {
+    //		sum += (double) *bp * (double) *kp;
+    //		}
+
+    while (kp < endkp) {
+      sum += *bp++ * *kp++;			  
+    }
+
+    buffer[i] = sum;
+  }
+}
+
+/* Convolve image with the 1-D kernel vector along image rows.  This
+is designed to be as efficient as possible.  Pixels outside the
+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[5000];
+  vector<float> pixels(width*height);
+
+
+  rows = height;
+  cols = width;
+
+  halfsize = ksize / 2;
+  pixels = image;
+  assert(cols + ksize < 5000);
+
+  for (r = 0; r < rows; r++) {
+    /* Copy the row into buffer with pixels at ends replicated for
+    half the mask size.  This avoids need to check for ends
+    within inner loop. */
+    for (i = 0; i < halfsize; i++)
+      buffer[i] = pixels[r*cols];
+    for (i = 0; i < cols; i++)
+      buffer[halfsize + i] = pixels[r*cols+i];
+    for (i = 0; i < halfsize; i++)
+      buffer[halfsize + cols + i] = pixels[r*cols+cols-1];
+
+    ConvBufferFast(buffer, kernel, cols, ksize);
+    for (c = 0; c < cols; c++)
+      pixels[r*cols+c] = buffer[c];
+  }
+  image = pixels;	 
+}
+
+
+/* Same as ConvHorizontal, but apply to vertical columns of image.
+*/
+void ConvVertical(vector<float>& image, int width, int height, float *kernel, int ksize)
+{
+  int rows, cols, r, c, i, halfsize;
+  float buffer[5000];
+  vector<float> pixels(width*height);
+
+  rows = height;
+  cols = width;
+
+  halfsize = ksize / 2;
+  pixels = image;
+  assert(rows + ksize < 5000);
+
+  for (c = 0; c < cols; c++) {
+    for (i = 0; i < halfsize; i++)
+      buffer[i] = pixels[c];
+    for (i = 0; i < rows; i++)
+      buffer[halfsize + i] = pixels[i*cols+c];
+    for (i = 0; i < halfsize; i++)
+      buffer[halfsize + rows + i] = pixels[(rows - 1)*cols+c];
+
+    ConvBufferFast(buffer, kernel, rows, ksize);
+    for (r = 0; r < rows; r++)
+      pixels[r*cols+c] = buffer[r];
+  }
+
+  image = pixels;	 
+}
+
+
+
+/* 1D Convolve image with a Gaussian of width sigma and store result back
+in image.   This routine creates the Gaussian kernel, and then applies
+it in horizontal (flag_dir=0) OR vertical directions (flag_dir!=0).
+*/
+void GaussianBlur1D(vector<float>& image, int width, int height, float sigma, int flag_dir)
+{
+  float x, kernel[100], sum = 0.0;
+  int ksize, i;
+
+  /* The Gaussian kernel is truncated at GaussTruncate sigmas from
+  center.  The kernel size should be odd.
+  */
+  ksize = (int)(2.0 * GaussTruncate1 * sigma + 1.0);
+  ksize = MAX(3, ksize);    /* Kernel must be at least 3. */
+  if (ksize % 2 == 0)       /* Make kernel size odd. */
+    ksize++;
+  assert(ksize < 100);
+
+  /* Fill in kernel values. */
+  for (i = 0; i <= ksize; i++) {
+    x = i - ksize / 2;
+    kernel[i] = exp(- x * x / (2.0 * sigma * sigma));
+    sum += kernel[i];
+  }
+  /* Normalize kernel values to sum to 1.0. */
+  for (i = 0; i < ksize; i++)
+    kernel[i] /= sum;
+
+  if (flag_dir == 0)
+  {
+    ConvHorizontal(image, width, height, kernel, ksize);
+  }
+  else
+  {
+    ConvVertical(image, width, height, kernel, ksize);
+  }
+}
+
+
+void compensate_affine_coor1(float *x0, float *y0, int w1, int h1, float t1, float t2, float Rtheta)
+{
+  float x_ori, y_ori;	
+  float x_tmp, y_tmp;
+
+  float x1 = *x0;
+  float y1 = *y0;
+
+
+  Rtheta = Rtheta*PI/180;
+
+  if ( Rtheta <= PI/2 )
+  {
+    x_ori = 0;
+    y_ori = w1 * sin(Rtheta) / t1;
+  }
+  else
+  {
+    x_ori = -w1 * cos(Rtheta) / t2;
+    y_ori = ( w1 * sin(Rtheta) + h1 * sin(Rtheta-PI/2) ) / t1;
+  }
+
+  float sin_Rtheta = sin(Rtheta);
+  float cos_Rtheta = cos(Rtheta);
+
+
+  /* project the coordinates of im1 to original image before tilt-rotation transform */
+  /* Get the coordinates with respect to the 'origin' of the original image before transform */
+  x1 = x1 - x_ori;
+  y1 = y1 - y_ori;
+  /* Invert tilt */
+  x1 = x1 * t2;
+  y1 = y1 * t1;
+  /* Invert rotation (Note that the y direction (vertical) is inverse to the usual concention. Hence Rtheta instead of -Rtheta to inverse the rotation.) */
+  x_tmp = cos_Rtheta*x1 - sin_Rtheta*y1;
+  y_tmp = sin_Rtheta*x1 + cos_Rtheta*y1;
+  x1 = x_tmp;
+  y1 = y_tmp;		
+
+  *x0 = x1;
+  *y0 = y1;
+}
+
+
+/* -------------- MAIN FUNCTION ---------------------- */
+
+int compute_asift_keypoints(vector<float>& image, int width, int height, int num_of_tilts, int verb, vector< vector< keypointslist > >& keys_all, siftPar &siftparameters)
+// Compute ASIFT keypoints in the input image.
+// Input:
+// image: input image
+// width, height: width and height of the input image.
+// num_of_tilts: number of tilts to simulate.
+// verb: 1/0 --> show/don not show verbose messages. (1 for debugging) 
+// keys_all (output): ASIFT keypoints. It is a 2D matrix with varying rows and columns. Each entry keys_all[tt][rr] 
+//	stores the SIFT keypoints calculated on the image with the simulated tilt index tt and simulated rotation index rr (see the code below). In the coordinates of the keypoints,
+//	the affine distortions have been compensated. 
+// siftparameters: SIFT parameters.
+//
+// Output: the number of keypoints 
+{	
+  vector<float> image_t, image_tmp1, image_tmp;	
+
+  float t_min, t_k;
+  int num_tilt, tt, num_rot_t2, rr;
+  int fproj_o;
+  float fproj_p, fproj_bg;
+  char fproj_i;
+  float *fproj_x4, *fproj_y4;
+  //  float frot_b=0;
+  float frot_b=128;
+  char *frot_k;
+  int  counter_sim=0, num_sim;
+  int flag_dir = 1;
+  float BorderFact=6*sqrt(2.);
+
+  int num_keys_total=0;
+
+
+  fproj_o = 3;
+  fproj_p = 0;
+  fproj_i = 0;
+  fproj_bg = 0;
+  fproj_x4 = 0;
+  fproj_y4 = 0;
+
+  frot_k = 0;
+
+  num_rot_t2 = 10;
+
+  t_min = 1;
+  t_k = sqrt(2.);
+
+
+  num_tilt = num_of_tilts;
+
+
+  if ( num_tilt < 1)
+  {
+    printf("Number of tilts num_tilt should be equal or larger than 1. \n");
+    exit(-1);	
+  }
+
+  image_tmp1 = image;
+
+
+  /* Calculate the number of simulations, and initialize keys_all */
+  keys_all = std::vector< vector< keypointslist > >(num_tilt);	
+  for (tt = 1; tt <= num_tilt; tt++)
+  {
+    float t = t_min * pow(t_k, tt-1);
+
+    if ( t == 1 )
+    {
+      counter_sim ++;
+
+      keys_all[tt-1] = std::vector< keypointslist >(1);
+    }
+    else
+    {
+      int num_rot1 = round(num_rot_t2*t/2);        
+      if ( num_rot1%2 == 1 )
+      {
+        num_rot1 = num_rot1 + 1;
+      }
+      num_rot1 = num_rot1 / 2;
+      counter_sim +=  num_rot1;
+
+      keys_all[tt-1] = std::vector< keypointslist >(num_rot1);	
+    }         		
+  }
+
+  num_sim = counter_sim;
+
+  if ( verb )
+  {
+    printf("%d affine simulations will be performed. \n", num_sim);
+  }
+
+  counter_sim = 0;
+
+
+
+  /* Affine simulation (rotation+tilt simulation) */
+  // Loop on tilts. 
+#ifdef _OPENMP
+  omp_set_nested(1);
+#endif
+#pragma omp parallel for private(tt)
+  for (tt = 1; tt <= num_tilt; tt++)
+  {
+    float t = t_min * pow(t_k, tt-1);
+
+    float t1 = 1;
+    float t2 = 1/t;
+
+    // If tilt t = 1, do not simulate rotation. 	
+    if ( t == 1 )
+    {					
+      // copy the image from vector to array as compute_sift_keypoints uses only array.				
+      float *image_tmp1_float = new float[width*height];
+      for (int cc = 0; cc < width*height; cc++)
+        image_tmp1_float[cc] = image_tmp1[cc];
+
+      compute_sift_keypoints(image_tmp1_float,keys_all[tt-1][0],width,height,siftparameters);
+
+      delete[] image_tmp1_float;
+
+    }
+    else
+    {
+      // The number of rotations to simulate under the current tilt.   
+      int num_rot1 = round(num_rot_t2*t/2);        
+
+      if ( num_rot1%2 == 1 )
+      {
+        num_rot1 = num_rot1 + 1;
+      }
+      num_rot1 = num_rot1 / 2;
+      float delta_theta = PI/num_rot1;		
+
+      // Loop on rotations.    
+#pragma omp parallel for private(rr)
+      for ( int rr = 1; rr <= num_rot1; rr++ ) 
+      {
+        float theta = delta_theta * (rr-1);
+        theta = theta * 180 / PI;
+
+        vector<float> image_t;
+        int width_r, height_r;
+
+        // simulate a rotation: rotate the image with an angle theta. (the outside of the rotated image are padded with the value frot_b)
+        frot(image, image_t, width, height, &width_r, &height_r, &theta, &frot_b , frot_k);
+
+        /* Tilt */			 
+        int width_t = (int) (width_r * t1);
+        int height_t = (int) (height_r * t2);  
+
+        int fproj_sx = width_t;
+        int fproj_sy = height_t;     
+
+        float fproj_x1 = 0;
+        float fproj_y1 = 0;
+        float fproj_x2 = width_t;
+        float fproj_y2 = 0;
+        float fproj_x3 = 0;	     
+        float fproj_y3 = height_t;
+
+        /* Anti-aliasing filtering along vertical direction */
+        /* sigma_aa = InitSigma_aa * log2(t);*/
+        float sigma_aa = InitSigma_aa * t / 2;
+        GaussianBlur1D(image_t,width_r,height_r,sigma_aa,flag_dir);
+
+
+        // simulate a tilt: subsample the image along the vertical axis by a factor of t.
+        vector<float> image_tmp(width_t*height_t);			 
+        fproj (image_t, image_tmp, width_r, height_r, &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); 
+
+        vector<float> image_tmp1 = image_tmp;	 
+
+        if ( verb )
+        {
+          printf("Rotation theta = %.2f, Tilt t = %.2f. w=%d, h=%d, sigma_aa=%.2f, \n", theta, t, width_t, height_t, sigma_aa);
+        }
+
+
+        float *image_tmp1_float = new float[width_t*height_t];
+        for (int cc = 0; cc < width_t*height_t; cc++)
+          image_tmp1_float[cc] = image_tmp1[cc];	 
+
+        // compute SIFT keypoints on simulated image. 	 
+        keypointslist keypoints;
+        keypointslist keypoints_filtered;
+        compute_sift_keypoints(image_tmp1_float,keypoints,width_t,height_t,siftparameters);
+
+        delete[] image_tmp1_float;		
+
+        /* check if the keypoint is located on the boundary of the parallelogram (i.e., the boundary of the distorted input image). If so, remove it to avoid boundary artifacts. */
+        if ( keypoints.size() != 0 )
+        {
+          for ( int cc = 0; cc < (int) keypoints.size(); cc++ )
+          {		      
+
+            float x0, y0, x1, y1, x2, y2, x3, y3 ,x4, y4, d1, d2, d3, d4, scale1, theta1, sin_theta1, cos_theta1, BorderTh;
+
+            x0 = keypoints[cc].x;
+            y0 = keypoints[cc].y;
+            scale1= keypoints[cc].scale;
+
+            theta1 = theta * PI / 180;
+            sin_theta1 = sin(theta1);
+            cos_theta1 = cos(theta1);
+
+            /* the coordinates of the 4 submits of the parallelogram */
+            if ( theta <= 90 )
+            {
+              x1 = height * sin_theta1;
+              y1 = 0;			 
+              y2 = width * sin_theta1;
+              x3 = width * cos_theta1;
+              x4 = 0;
+              y4 = height * cos_theta1;
+              x2 = x1 + x3;
+              y3 = y2 + y4;
+
+              /* note that the vertical direction goes from top to bottom!!! 
+              The calculation above assumes that the vertical direction goes from the bottom to top. Thus the vertical coordinates need to be reversed!!! */
+              y1 = y3 - y1;
+              y2 = y3 - y2;
+              y4 = y3 - y4;
+              y3 = 0;
+
+              y1 = y1 * t2;
+              y2 = y2 * t2;
+              y3 = y3 * t2;
+              y4 = y4 * t2;
+            }
+            else
+            {
+              y1 = -height * cos_theta1;
+              x2 = height * sin_theta1;
+              x3 = 0;
+              y3 = width * sin_theta1;				 
+              x4 = -width * cos_theta1;
+              y4 = 0;
+              x1 = x2 + x4;
+              y2 = y1 + y3;
+
+              /* note that the vertical direction goes from top to bottom!!! 
+              The calculation above assumes that the vertical direction goes from the bottom to top. Thus the vertical coordinates need to be reversed!!! */
+              y1 = y2 - y1;
+              y3 = y2 - y3;
+              y4 = y2 - y4;
+              y2 = 0;
+
+              y1 = y1 * t2;
+              y2 = y2 * t2;
+              y3 = y3 * t2;
+              y4 = y4 * t2;
+            }		       		    
+
+            /* the distances from the keypoint to the 4 sides of the parallelogram */
+            d1 = ABS((x2-x1)*(y1-y0)-(x1-x0)*(y2-y1)) / sqrt((x2-x1)*(x2-x1)+(y2-y1)*(y2-y1));
+            d2 = ABS((x3-x2)*(y2-y0)-(x2-x0)*(y3-y2)) / sqrt((x3-x2)*(x3-x2)+(y3-y2)*(y3-y2));
+            d3 = ABS((x4-x3)*(y3-y0)-(x3-x0)*(y4-y3)) / sqrt((x4-x3)*(x4-x3)+(y4-y3)*(y4-y3));
+            d4 = ABS((x1-x4)*(y4-y0)-(x4-x0)*(y1-y4)) / sqrt((x1-x4)*(x1-x4)+(y1-y4)*(y1-y4));
+
+            BorderTh = BorderFact*scale1;
+
+            if (!((d1<BorderTh) || (d2<BorderTh) || (d3<BorderTh) || (d4<BorderTh) ))
+            {				 					   
+              // Normalize the coordinates of the matched points by compensate the simulate affine transformations
+              compensate_affine_coor1(&x0, &y0, width, height, 1/t2, t1, theta);
+              keypoints[cc].x = x0;
+              keypoints[cc].y = y0;
+
+              keypoints_filtered.push_back(keypoints[cc]);	 
+            }				   
+          }
+        }			 
+        keys_all[tt-1][rr-1] = keypoints_filtered;
+      }		 
+    }         
+  }
+
+  {		
+    for (tt = 0; tt < (int) keys_all.size(); tt++)
+      for (rr = 0; rr < (int) keys_all[tt].size(); rr++)
+      {
+        num_keys_total += (int) keys_all[tt][rr].size();
+      }				
+      printf("%d ASIFT keypoints are detected. \n", num_keys_total);
+  }
+
+  return num_keys_total;
+}

ongoing/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.h

@@ -0,0 +1,53 @@
+// Copyright (c) 2008-2011, Guoshen Yu <yu@cmap.polytechnique.fr>
+// Copyright (c) 2008-2011, Jean-Michel Morel <morel@cmla.ens-cachan.fr>
+//
+// WARNING: 
+// This file implements an algorithm possibly linked to the patent
+//
+// Jean-Michel Morel and Guoshen Yu, Method and device for the invariant 
+// affine recognition recognition of shapes (WO/2009/150361), patent pending. 
+//
+// This file is made available for the exclusive aim of serving as
+// scientific tool to verify of the soundness and
+// completeness of the algorithm description. Compilation,
+// execution and redistribution of this file may violate exclusive
+// patents rights in certain countries.
+// The situation being different for every country and changing
+// over time, it is your responsibility to determine which patent
+// rights restrictions apply to you before you compile, use,
+// modify, or redistribute this file. A patent lawyer is qualified
+// to make this determination.
+// If and only if they don't conflict with any patent terms, you
+// can benefit from the following license terms attached to this
+// file.
+//
+// This program is provided for scientific and educational only:
+// you can use and/or modify it for these purposes, but you are
+// not allowed to redistribute this work or derivative works in
+// source or executable form. A license must be obtained from the
+// patent right holders for any other use.
+//
+// 
+//*------------------------ compute_asift_keypoints -------------------------*/
+// Compute the ASIFT keypoints on the input image. 
+// 
+// Please report bugs and/or send comments to Guoshen Yu yu@cmap.polytechnique.fr
+// 
+// Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image 
+//            Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009. 
+// Reference: ASIFT online demo (You can try ASIFT with your own images online.) 
+//			  http://www.ipol.im/pub/algo/my_affine_sift/
+/*---------------------------------------------------------------------------*/
+
+
+#include "library.h"
+#include "demo_lib_sift.h"
+#include "frot.h"
+#include "fproj.h"
+#include <vector>
+using namespace std;
+
+
+int compute_asift_keypoints(vector<float>& image, int width, int height, int num_of_tilts, int verb, vector< vector< keypointslist > >& keys_all, siftPar &siftparameters);
+
+void GaussianBlur1D(vector<float>& image, int width, int height, float sigma, int flag_dir);

ongoing/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.cpp

@@ -0,0 +1,791 @@
+// Copyright (c) 2008-2011, Guoshen Yu <yu@cmap.polytechnique.fr>
+// Copyright (c) 2008-2011, Jean-Michel Morel <morel@cmla.ens-cachan.fr>
+//
+// WARNING: 
+// This file implements an algorithm possibly linked to the patent
+//
+// Jean-Michel Morel and Guoshen Yu, Method and device for the invariant 
+// affine recognition recognition of shapes (WO/2009/150361), patent pending. 
+//
+// This file is made available for the exclusive aim of serving as
+// scientific tool to verify of the soundness and
+// completeness of the algorithm description. Compilation,
+// execution and redistribution of this file may violate exclusive
+// patents rights in certain countries.
+// The situation being different for every country and changing
+// over time, it is your responsibility to determine which patent
+// rights restrictions apply to you before you compile, use,
+// modify, or redistribute this file. A patent lawyer is qualified
+// to make this determination.
+// If and only if they don't conflict with any patent terms, you
+// can benefit from the following license terms attached to this
+// file.
+//
+// This program is provided for scientific and educational only:
+// you can use and/or modify it for these purposes, but you are
+// not allowed to redistribute this work or derivative works in
+// source or executable form. A license must be obtained from the
+// patent right holders for any other use.
+//
+// 
+//*------------------------ compute_asift_matches-- -------------------------*/
+// Match the ASIFT keypoints. 
+// 
+// Please report bugs and/or send comments to Guoshen Yu yu@cmap.polytechnique.fr
+// 
+// Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image 
+//            Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009. 
+// Reference: ASIFT online demo (You can try ASIFT with your own images online.) 
+//			  http://www.ipol.im/pub/algo/my_affine_sift/
+/*---------------------------------------------------------------------------*/
+
+
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include <time.h>
+
+#ifdef _OPENMP
+#include <omp.h>
+#endif
+
+#include "compute_asift_matches.h"
+#include "libMatch/match.h"
+#include "orsa.h"
+
+
+#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
+
+/* Remove the repetitive matches that appear in different simulations and retain only one */
+void unique_match1(matchingslist &seg_in, matchingslist &seg_out, vector< vector <float> > &Minfoall_in, vector< vector <float> > &Minfoall_out)
+{
+  int i_in, i_out;
+  float x1_in, x2_in, y1_in, y2_in, x1_out, x2_out, y1_out, y2_out;
+  int flag_unique;
+  float d1, d2;
+  int Th2 = 2;
+  
+  seg_out.push_back(seg_in[0]);
+  Minfoall_out.push_back(Minfoall_in[0]);	
+	
+  /* For other matches */
+  if ( seg_in.size() > 1 )	
+    {
+      /* check if a match is unique. if yes, copy */
+		/* Bug fix by Xiaoyu Sun (Sichuan university) (Dec 13, 2015) */
+		/* Original version
+		matchingslist::iterator ptr_in = seg_in.begin();
+		for ( i_in = 1; i_in < (int) seg_in.size(); i_in++, ptr_in++ )
+		*/
+		/* Bug fixed */
+		matchingslist::iterator ptr_in = seg_in.begin();
+		ptr_in++;
+		for ( i_in = 1; i_in < (int) seg_in.size(); i_in++, ptr_in++ )
+			{				
+			  x1_in = ptr_in->first.x;
+			  y1_in = ptr_in->first.y;
+			  x2_in = ptr_in->second.x; 
+			  y2_in = ptr_in->second.y;	
+
+			  flag_unique = 1;
+
+			  matchingslist::iterator ptr_out = seg_out.begin(); 
+			  for ( i_out = 0; i_out < (int) seg_out.size(); i_out++, ptr_out++ )
+				{
+					x1_out = ptr_out->first.x;
+					y1_out = ptr_out->first.y;
+					x2_out = ptr_out->second.x; 
+					y2_out = ptr_out->second.y;	
+					
+					d1 = (x1_in - x1_out)*(x1_in - x1_out) + (y1_in - y1_out)*(y1_in - y1_out);
+					d2 = (x2_in - x2_out)*(x2_in - x2_out) + (y2_in - y2_out)*(y2_in - y2_out);
+
+	
+					if ( ( d1 <= Th2) && ( d2 <= Th2) )
+					 {
+					   flag_unique = 0;
+					   continue;
+					 }	       
+				}
+
+			  if ( flag_unique == 1 )
+				{									
+					seg_out.push_back(seg_in[i_in]);
+					Minfoall_out.push_back(Minfoall_in[i_in]);						
+				}	  
+		}
+    }
+}
+
+/* Remove the ALL one-to-multiple matches. */
+void clean_match1(matchingslist &seg_in, matchingslist &seg_out, vector< vector <float> > &Minfoall_in, vector< vector <float> > &Minfoall_out)
+{
+  int i1, i2;
+  float x1_in, x2_in, y1_in, y2_in, x1_out, x2_out, y1_out, y2_out;
+
+  // Guoshen Yu, 2010.09.22, Windows version
+ // int flag_unique[seg_in.size()];
+  int tmp_size = seg_in.size();
+  int *flag_unique = new int[tmp_size];
+
+  int sum_flag=0;
+  float d1, d2;
+  int Th1 = 1;
+  int Th2 = 4;
+
+ for ( i1 = 0; i1 < (int) seg_in.size(); i1++ )
+    {
+      flag_unique[i1] = 1;
+    }
+
+  /* Set the flag of redundant matches to 0. */
+	matchingslist::iterator ptr_in = seg_in.begin();
+	for ( i1 = 0; i1 < (int) seg_in.size() - 1; i1++, ptr_in++ )
+    {					
+		x1_in = ptr_in->first.x;
+		y1_in = ptr_in->first.y;
+		x2_in = ptr_in->second.x; 
+		y2_in = ptr_in->second.y;
+
+		matchingslist::iterator ptr_out = ptr_in+1;
+		for ( i2 = i1 + 1; i2 < (int) seg_in.size(); i2++, ptr_out++ )
+		{
+		  x1_out = ptr_out->first.x;
+		  y1_out = ptr_out->first.y;
+		  x2_out = ptr_out->second.x; 
+		  y2_out = ptr_out->second.y;	
+
+		  d1 = (x1_in - x1_out)*(x1_in - x1_out) + (y1_in - y1_out)*(y1_in - y1_out);
+		  d2 = (x2_in - x2_out)*(x2_in - x2_out) + (y2_in - y2_out)*(y2_in - y2_out);
+
+		  /* If redundant, set flags of both elements to 0.*/
+		  if ( ( ( d1 <= Th1) && ( d2 > Th2) ) || ( ( d1 > Th2) && ( d2 <= Th1) ) )
+			{
+			  flag_unique[i1] = 0;
+			  flag_unique[i2] = 0;				  
+			}
+		}		
+    }
+
+	for ( i1 = 0; i1 < (int) seg_in.size(); i1++ )
+    {
+      sum_flag += flag_unique[i1];
+    }
+  
+	/* Copy the matches that are not redundant */
+	if ( sum_flag > 0 )
+    {
+	  for (  i1 = 0; i1 < (int) seg_in.size(); i1++ )
+		{
+		  if ( flag_unique[i1] == 1 )
+			{				
+				seg_out.push_back(seg_in[i1]);
+				Minfoall_out.push_back(Minfoall_in[i1]);   
+			}
+		}
+    }
+  else
+    {
+      printf("Warning: all matches are redundant and are thus removed! This step of match cleaning is short circuited. (Normally this should not happen...)\n");
+    }
+
+	// Guoshen Yu, 2010.09.22, Windows version
+	delete [] flag_unique;
+}
+
+
+/* Remove the ALL multiple-to-one matches */
+void clean_match2(matchingslist &seg_in, matchingslist &seg_out, vector< vector <float> > &Minfoall_in, vector< vector <float> > &Minfoall_out)
+{
+	int i1, i2;
+	float x1_in, x2_in, y1_in, y2_in, x1_out, x2_out, y1_out, y2_out;
+
+  // Guoshen Yu, 2010.09.22, Windows version
+  // int flag_unique[seg_in.size()];
+  int tmp_size = seg_in.size();
+  int *flag_unique = new int[tmp_size];
+
+	int sum_flag=0;
+	float d1, d2;
+	int Th1 = 1;
+	int Th2 = 4;
+
+	for ( i1 = 0; i1 < (int) seg_in.size(); i1++ )
+    {
+      flag_unique[i1] = 1;
+    }
+
+	/* Set the flag of redundant matches to 0. */
+	matchingslist::iterator ptr_in = seg_in.begin();
+	for ( i1 = 0; i1 < (int) seg_in.size() - 1; i1++, ptr_in++ )
+	{																				
+		x1_in = ptr_in->first.x;
+		y1_in = ptr_in->first.y;
+		x2_in = ptr_in->second.x; 
+		y2_in = ptr_in->second.y;	
+															
+		matchingslist::iterator ptr_out = ptr_in+1;
+		for ( i2 = i1 + 1; i2 < (int) seg_in.size(); i2++, ptr_out++ )
+		{
+			
+		  x1_out = ptr_out->first.x;
+		  y1_out = ptr_out->first.y;
+		  x2_out = ptr_out->second.x; 
+		  y2_out = ptr_out->second.y;	
+
+		  d1 = (x1_in - x1_out)*(x1_in - x1_out) + (y1_in - y1_out)*(y1_in - y1_out);
+		  d2 = (x2_in - x2_out)*(x2_in - x2_out) + (y2_in - y2_out)*(y2_in - y2_out);
+
+
+		  /* If redundant, set flags of both elements to 0.*/	
+		  if ( ( d1 > Th2) && ( d2 <= Th1) ) 
+			{
+			  flag_unique[i1] = 0;
+			  flag_unique[i2] = 0;				  
+			}
+		}
+	}
+
+  for ( i1 = 0; i1 < (int) seg_in.size(); i1++ )
+  {
+	  sum_flag += flag_unique[i1];
+  }
+  
+  /* Copy the matches that are not redundant */
+  if ( sum_flag > 0 )
+  {
+	  for (  i1 = 0; i1 < (int) seg_in.size(); i1++ )
+	  {
+		  if ( flag_unique[i1] == 1 )
+		  {			 
+				seg_out.push_back(seg_in[i1]);
+				Minfoall_out.push_back(Minfoall_in[i1]);    
+		  }
+	  }
+  }
+  else
+  {
+      printf("Warning: all matches are redundant and are thus removed! This step of match cleaning is short circuited. (Normally this should not happen...)\n");
+  }
+
+  // Guoshen Yu, 2010.09.22, Windows version
+  delete [] flag_unique;
+}
+
+
+// Normalize the coordinates of the matched points by compensating the simulate affine transformations
+void compensate_affine_coor(matching &matching1, int w1, int h1, int w2, int h2, float t1, float t2, float Rtheta, float t_im2_1, float t_im2_2, float Rtheta2)
+{
+	float x_ori, y_ori;	
+	float x_ori2, y_ori2, x_tmp, y_tmp;
+	float x1, y1, x2, y2;
+		
+	Rtheta = Rtheta*PI/180;
+	
+	if ( Rtheta <= PI/2 )
+    {
+		x_ori = 0;
+		y_ori = w1 * sin(Rtheta) / t1;
+    }
+	else
+    {
+		x_ori = -w1 * cos(Rtheta) / t2;
+		y_ori = ( w1 * sin(Rtheta) + h1 * sin(Rtheta-PI/2) ) / t1;
+    }
+	
+	Rtheta2 = Rtheta2*PI/180;
+	
+	if ( Rtheta2 <= PI/2 )
+    {
+		x_ori2 = 0;
+		y_ori2 = w2 * sin(Rtheta2) / t_im2_1;
+    }
+	else
+    {
+		x_ori2 = -w2 * cos(Rtheta2) / t_im2_2;
+		y_ori2 = ( w2 * sin(Rtheta2) + h2 * sin(Rtheta2-PI/2) ) / t_im2_1;
+    }
+	
+	float sin_Rtheta = sin(Rtheta);
+	float cos_Rtheta = cos(Rtheta);
+	float sin_Rtheta2 = sin(Rtheta2);
+	float cos_Rtheta2 = cos(Rtheta2);
+	
+	x1 = matching1.first.x;
+	y1 = matching1.first.y;	
+	x2 = matching1.second.x;
+	y2 = matching1.second.y;
+	
+	/* project the coordinates of im1 to original image before tilt-rotation transform */
+	/* Get the coordinates with respect to the 'origin' of the original image before transform */
+	x1 = x1 - x_ori;
+	y1 = y1 - y_ori;
+	/* Invert tilt */
+	x1 = x1 * t2;
+	y1 = y1 * t1;
+	/* Invert rotation (Note that the y direction (vertical) is inverse to the usual concention. Hence Rtheta instead of -Rtheta to inverse the rotation.) */
+	x_tmp = cos_Rtheta*x1 - sin_Rtheta*y1;
+	y_tmp = sin_Rtheta*x1 + cos_Rtheta*y1;
+	x1 = x_tmp;
+	y1 = y_tmp;
+	
+	/* Coordinate projection on image2  */
+	
+	/* Get the coordinates with respect to the 'origin' of the original image before transform */
+	x2 = x2 - x_ori2;
+	y2 = y2 - y_ori2;
+	/* Invert tilt */
+	x2 = x2 * t_im2_2;
+	y2 = y2 * t_im2_1;
+	/* Invert rotation (Note that the y direction (vertical) is inverse to the usual concention. Hence Rtheta instead of -Rtheta to inverse the rotation.) */
+	x_tmp = cos_Rtheta2*x2 - sin_Rtheta2*y2;
+	y_tmp = sin_Rtheta2*x2 + cos_Rtheta2*y2;
+	x2 = x_tmp;
+	y2 = y_tmp;
+	
+	matching1.first.x = x1;
+	matching1.first.y = y1;	
+	matching1.second.x = x2;
+	matching1.second.y = y2;
+}
+
+int compute_asift_matches(int num_of_tilts1, int num_of_tilts2, int w1, int h1, int w2, int h2, int verb, vector< vector< keypointslist > >& keys1, vector< vector< keypointslist > >& keys2, matchingslist &matchings, siftPar &siftparameters)
+// Match the ASIFT keypoints. 
+// Input:
+// num_of_tilts1, num_of_tilts2: number of tilts that have been simulated on the two images. (They can be different.)
+// w1, h1, w2, h2: widht/height of image1/image2.
+// verb: 1/0 --> show/don not show verbose messages. (1 for debugging) 
+// keys1, keys2: ASIFT keypoints of image1/image2. (They should be calculated with compute_asift_keypoints.)
+// matchings (output): the coordinates (col1, row1, col2, row2) of all the matching points. 
+//
+// Output: the number of matching points.
+{  	
+	float t_min, t_k, t;
+	int num_tilt1, num_tilt2, tt, num_rot_t2, num_rot1, rr;
+	int cc;
+
+	int tt2, rr2, num_rot1_2;
+	float t_im2;
+
+	/* It stores the coordinates of ALL matches points of ALL affine simulations  */
+	vector< vector <float> > Minfoall;
+
+	int Tmin = 8;					
+	float nfa_max = -2;
+
+	num_rot_t2 = 10;
+
+	t_min = 1;
+	t_k = sqrt(2.);
+
+	num_tilt1 = num_of_tilts1;
+	num_tilt2 = num_of_tilts2;
+
+	if ( ( num_tilt1 < 1 ) || ( num_tilt2 < 1 ) )
+	{
+		printf("Number of tilts num_tilt should be equal or larger than 1. \n");
+		exit(-1);	
+	}
+
+	
+	/* Initialize the vector structure for the matching points */	
+	std::vector< vector< vector < vector < matchingslist > > > > matchings_vec(num_tilt1);	
+	std::vector< vector< vector< vector< vector< vector <float> > > > > > Minfoall_vec(num_tilt1);	
+	for (tt = 1; tt <= num_tilt1; tt++)
+	{		
+		t = t_min * pow(t_k, tt-1);
+		if ( t == 1 )
+		{			
+			num_rot1 = 1;
+		}
+		else
+		{
+			num_rot1 = round(num_rot_t2*t/2);        
+			if ( num_rot1%2 == 1 )
+			{
+				num_rot1 = num_rot1 + 1;
+			}
+			num_rot1 = num_rot1 / 2;
+		}     
+		
+		matchings_vec[tt-1].resize(num_rot1);
+		Minfoall_vec[tt-1].resize(num_rot1);
+		
+		for  ( rr = 1; rr <= num_rot1; rr++ ) 
+		{   
+			
+			matchings_vec[tt-1][rr-1].resize(num_tilt2);
+			Minfoall_vec[tt-1][rr-1].resize(num_tilt2);
+			
+			for (tt2 = 1; tt2 <= num_tilt2; tt2++)				
+			{			
+				t_im2 = t_min * pow(t_k, tt2-1);
+				if ( t_im2 == 1 )
+				{
+					num_rot1_2 = 1;
+				}
+				else
+				{
+					num_rot1_2 = round(num_rot_t2*t_im2/2);        
+					if ( num_rot1_2%2 == 1 )
+					{
+						num_rot1_2 = num_rot1_2 + 1;
+					}
+					num_rot1_2 = num_rot1_2 / 2;
+				}
+				
+				matchings_vec[tt-1][rr-1][tt2-1].resize(num_rot1_2);		
+				Minfoall_vec[tt-1][rr-1][tt2-1].resize(num_rot1_2);				
+			}
+		}
+	}
+	
+	
+	///*
+	// * setup the tilt and rotation parameters
+	// * for all the loops, this vector will hold
+	// * the following parameters: 
+	// * tt, num_rot1, rr, tt2, num_rot1_2, rr2
+	// */
+	//vector<int> tilt_rot;
+	///* loop on tilts for image 1 */ 
+	//for (int tt = 1; tt <= num_tilt1; tt++)
+	//{
+	//    float t = t_min * pow(t_k, tt-1);
+	//    int num_rot1;
+	//    /* if tilt t = 1, do not simulate rotation. */
+	//    if ( 1 == tt )
+	//		num_rot1 = 1;
+	//    else
+	//    {
+	//		/* number of rotations to simulate */
+	//		num_rot1 = round(num_rot_t2 * t / 2);        
+	//		if ( num_rot1%2 == 1 )
+	//			num_rot1 = num_rot1 + 1;
+	//		num_rot1 = num_rot1 / 2;
+	//    }
+	//    /* loop on rotations for image 1 */ 
+	//    for  (int rr = 1; rr <= num_rot1; rr++ ) 
+	//    {   
+	//		/* loop on tilts for image 2 */
+	//		for (int tt2 = 1; tt2 <= num_tilt2; tt2++)
+	//		{
+	//			float t_im2 = t_min * pow(t_k, tt2-1);
+	//			int num_rot1_2;
+	//			if ( tt2 == 1 )
+	//				num_rot1_2 = 1;
+	//			else
+	//			{
+	//				num_rot1_2 = round(num_rot_t2 * t_im2 / 2);        
+	//				if ( num_rot1_2%2 == 1 )
+	//					num_rot1_2 = num_rot1_2 + 1;
+	//				num_rot1_2 = num_rot1_2 / 2;
+	//			}
+	//			/* loop on rotations for image 2 */ 
+	//			for  (int rr2 = 1; rr2 <= num_rot1_2; rr2++ ) 
+	//			{
+	//				tilt_rot.push_back(tt);
+	//				tilt_rot.push_back(num_rot1);
+	//				tilt_rot.push_back(rr);
+	//				tilt_rot.push_back(tt2);
+	//				tilt_rot.push_back(num_rot1_2);
+	//				tilt_rot.push_back(rr2);
+	//			}
+	//		}
+	//    }
+	//}
+		
+	/* Calculate the number of simulations */
+#ifdef _OPENMP
+	omp_set_nested(1);
+#endif 
+	// loop on tilts for image 1. 
+#pragma omp parallel for private(tt)
+	for (int tt = 1; tt <= num_tilt1; tt++)
+	{
+		
+		float t = t_min * pow(t_k, tt-1);
+		
+		/* Attention: the t1, t2 do not follow the same convention as in compute_asift_keypoints */   
+		float t1 = t; 
+		float t2 = 1;
+		
+		int num_rot1;
+		
+		// If tilt t = 1, do not simulate rotation. 	
+		if ( tt == 1 )
+		{
+			num_rot1 = 1;
+		}
+		else
+		{
+			// The number of rotations to simulate under the current tilt.   
+			num_rot1 = round(num_rot_t2*t/2);        
+			if ( num_rot1%2 == 1 )
+			{
+				num_rot1 = num_rot1 + 1;
+			}
+			num_rot1 = num_rot1 / 2;
+		}
+		
+		
+		float delta_theta = PI/num_rot1;
+		
+		// Loop on rotations for image 1. 
+#pragma omp parallel for private(rr)
+		for  ( int rr = 1; rr <= num_rot1; rr++ ) 
+		{   
+			float theta = delta_theta * (rr-1);
+			theta = theta * 180 / PI;
+			
+			/* Read the keypoints of image 1 */	       
+			keypointslist keypoints1 = keys1[tt-1][rr-1];
+			
+			// loop on tilts for image 2.
+#pragma omp parallel for private(tt2)
+			for (int tt2 = 1; tt2 <= num_tilt2; tt2++)				
+			{
+				float t_im2 = t_min * pow(t_k, tt2-1);
+				
+				/* Attention: the t1, t2 do not follow the same convention as in asift_v1.c */
+				float t_im2_1 = t_im2; 
+				float t_im2_2 = 1;
+				
+				int num_rot1_2;
+				
+				if ( tt2 == 1 )
+				{
+					num_rot1_2 = 1;
+				}
+				else
+				{
+					num_rot1_2 = round(num_rot_t2*t_im2/2);        
+					if ( num_rot1_2%2 == 1 )
+					{
+						num_rot1_2 = num_rot1_2 + 1;
+					}
+					num_rot1_2 = num_rot1_2 / 2;
+				}
+				
+				float delta_theta2 = PI/num_rot1_2;
+				
+#pragma omp parallel for private(rr2)
+				// Loop on rotations for image 2. 
+				for  ( int rr2 = 1; rr2 <= num_rot1_2; rr2++ ) 
+				{   
+					float theta2 = delta_theta2 * (rr2-1);
+					theta2 = theta2 * 180 / PI;
+					
+					/* Read the keypoints of image2. */	       
+					keypointslist keypoints2 = keys2[tt2-1][rr2-1];
+					
+					
+					// Match the keypoints of image1 and image2.
+					matchingslist matchings1;					
+					compute_sift_matches(keypoints1,keypoints2,matchings1,siftparameters);		       
+					
+					if ( verb ) 
+					{
+						printf("t1=%.2f, theta1=%.2f, num keys1 = %d, t2=%.2f, theta2=%.2f, num keys2 = %d, num matches=%d\n", t, theta, (int) keypoints1.size(), t_im2, theta2, (int) keypoints2.size(), (int) matchings1.size());
+					}
+					
+					/* Store the matches */
+					if ( matchings1.size() > 0 )
+					{
+						matchings_vec[tt-1][rr-1][tt2-1][rr2-1] = matchingslist(matchings1.size());
+            Minfoall_vec[tt-1][rr-1][tt2-1][rr2-1].resize(matchings1.size());
+						
+						for ( int cc = 0; cc < (int) matchings1.size(); cc++ )		   
+						{		      														
+							///// In the coordinates the affine transformations have been normalized already in compute_asift_keypoints. So no need to normalize here. 
+							// Normalize the coordinates of the matched points by compensating the simulate affine transformations
+							//	compensate_affine_coor(matchings1[cc], w1, h1, w2, h2, t1, t2, theta, t_im2_1, t_im2_2, theta2);
+							
+							matchings_vec[tt-1][rr-1][tt2-1][rr2-1][cc] = matchings1[cc];
+							
+							vector<float> Minfo_1match(6);
+							Minfo_1match[0] = t1;
+							Minfo_1match[1] = t2;
+							Minfo_1match[2] = theta;
+							Minfo_1match[3] = t_im2_1;
+							Minfo_1match[4] = t_im2_2;
+							Minfo_1match[5] = theta2;									
+							Minfoall_vec[tt-1][rr-1][tt2-1][rr2-1][cc] = Minfo_1match;
+						} 												
+					}
+				}
+			}
+		}
+	}
+			
+	// Move the matches to a 1D vector
+	for (tt = 1; tt <= num_tilt1; tt++)
+	{				
+		t = t_min * pow(t_k, tt-1);
+
+		if ( t == 1 )
+		{			
+			num_rot1 = 1;
+		}
+		else
+		{
+			num_rot1 = round(num_rot_t2*t/2);        
+			if ( num_rot1%2 == 1 )
+			{
+				num_rot1 = num_rot1 + 1;
+			}
+			num_rot1 = num_rot1 / 2;
+		}     
+					
+		for  ( rr = 1; rr <= num_rot1; rr++ ) 
+		{   			
+			for (tt2 = 1; tt2 <= num_tilt2; tt2++)				
+			{			
+				t_im2 = t_min * pow(t_k, tt2-1);
+				if ( t_im2 == 1 )
+				{
+					num_rot1_2 = 1;
+				}
+				else
+				{
+					num_rot1_2 = round(num_rot_t2*t_im2/2);        
+					if ( num_rot1_2%2 == 1 )
+					{
+						num_rot1_2 = num_rot1_2 + 1;
+					}
+					num_rot1_2 = num_rot1_2 / 2;
+				}
+		
+				for  ( rr2 = 1; rr2 <= num_rot1_2; rr2++ ) 
+				{ 
+					for ( cc=0; cc < (int) matchings_vec[tt-1][rr-1][tt2-1][rr2-1].size(); cc++ )
+					{
+						matchings.push_back(matchings_vec[tt-1][rr-1][tt2-1][rr2-1][cc]);
+						Minfoall.push_back(Minfoall_vec[tt-1][rr-1][tt2-1][rr2-1][cc]);
+					}
+				}
+			}
+		}
+	}
+
+	if ( verb )
+	{
+	  printf("The number of matches is %d \n", (int) matchings.size());
+	}
+
+	
+	if ( matchings.size() > 0 )
+	{
+	  /* Remove the repetitive matches that appear in different simulations and retain only one. */		
+		// Since tilts are simuated on both image 1 and image 2, it is normal to have repetitive matches. 
+		matchingslist matchings_unique;	
+		vector< vector<float> > Minfoall_unique;			
+		unique_match1(matchings, matchings_unique, Minfoall, Minfoall_unique);      		
+		matchings = matchings_unique;
+		Minfoall = Minfoall_unique; 
+		
+		if ( verb )    
+			{
+			  printf("The number of unique matches is %d \n", (int) matchings.size());
+			}
+	  
+		// There often appear to be some one-to-multiple/multiple-to-one matches (one point in image 1 matches with many points in image 2/vice versa). 
+		// This is an artifact of SIFT on interpolated images, as the interpolation tends to create some auto-similar structures (steps for example). 
+		// These matches need to be removed.		
+		  /* Separating the removal of  multiple-to-one and one-to-multiple in two steps:
+		 - first remove multiple-to-one
+		 - then remove one-to-multiple
+		 This allows to avoid removing some good matches: multiple-to-one matches is much more frequent than one-to-multiple. Sometimes some of the feature points in image 1 that take part in "multiple-to-one" bad matches have also correct matches in image 2. The modified scheme avoid removing these good matches. */
+	 
+		// Remove to multiple-to-one matches	
+		matchings_unique.clear();
+		Minfoall_unique.clear();		
+		clean_match2(matchings, matchings_unique, Minfoall, Minfoall_unique);    		
+		matchings = matchings_unique;
+		Minfoall = Minfoall_unique;
+		
+		// Remove to one-to-multiple matches	
+		matchings_unique.clear();
+		Minfoall_unique.clear();		
+		clean_match1(matchings, matchings_unique, Minfoall, Minfoall_unique);    		
+		matchings = matchings_unique;
+		Minfoall = Minfoall_unique;
+
+				
+		if ( verb )
+		{
+			printf("The number of final matches is %d \n", (int) matchings.size());
+		}
+		
+		// If enough matches to do epipolar filtering
+		if ( (int) matchings.size() >= Tmin )
+		{			
+			//////// Use ORSA to filter out the incorrect matches. 
+			// store the coordinates of the matching points
+			vector<Match> match_coor; 
+			for ( cc = 0; cc < (int) matchings.size(); cc++ )	
+			{
+				Match match1_coor;
+				match1_coor.x1 = matchings[cc].first.x;
+				match1_coor.y1 = matchings[cc].first.y;
+				match1_coor.x2 = matchings[cc].second.x;
+				match1_coor.y2 = matchings[cc].second.y;
+				
+				match_coor.push_back(match1_coor);							
+			}
+			
+			std::vector<float> index;
+			// Guoshen Yu, 2010.09.23
+			// index.clear();
+			
+			int t_value_orsa=10000;
+			int verb_value_orsa=0;
+			int n_flag_value_orsa=0;
+			int mode_value_orsa=2;
+			int stop_value_orsa=0;
+			
+			// epipolar filtering with the Moisan-Stival ORSA algorithm. 
+//			float nfa = orsa(w1, h1, match_coor, index, t_value_orsa, verb_value_orsa, n_flag_value_orsa, mode_value_orsa, stop_value_orsa);
+			float nfa = orsa((w1+w2)/2, (h1+h2)/2, match_coor, index, t_value_orsa, verb_value_orsa, n_flag_value_orsa, mode_value_orsa, stop_value_orsa);
+
+
+			// if the matching is significant, register the good matches
+			if ( nfa < nfa_max )
+			{
+				// extract meaningful matches
+				matchings_unique.clear();
+				Minfoall_unique.clear();
+				for ( cc = 0; cc < (int) index.size(); cc++ )				
+				{
+					matchings_unique.push_back(matchings[(int)index[cc]]);
+					Minfoall_unique.push_back(Minfoall[(int)index[cc]]);
+				}
+				matchings = matchings_unique;
+				Minfoall = Minfoall_unique;     
+				
+				cout << "The two images match! " << matchings.size() << " matchings are identified. log(nfa)=" << nfa << "." << endl;
+			}
+			else 
+			{
+				matchings.clear();
+				Minfoall.clear();
+				cout << "The two images do not match. The matching is not significant: log(nfa)=" << nfa << "." << endl;
+			}
+		}
+		else 
+		{
+			matchings.clear();
+			Minfoall.clear();
+			cout << "The two images do not match. Not enough matches to do epipolar filtering." << endl;		
+		}
+	}
+	else 
+	{
+		cout << "The two images do not match.\n" << endl;
+	}
+	
+	return matchings.size();
+
+}
+

ongoing/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.cpp~

@@ -0,0 +1,784 @@
+// Copyright (c) 2008-2011, Guoshen Yu <yu@cmap.polytechnique.fr>
+// Copyright (c) 2008-2011, Jean-Michel Morel <morel@cmla.ens-cachan.fr>
+//
+// WARNING: 
+// This file implements an algorithm possibly linked to the patent
+//
+// Jean-Michel Morel and Guoshen Yu, Method and device for the invariant 
+// affine recognition recognition of shapes (WO/2009/150361), patent pending. 
+//
+// This file is made available for the exclusive aim of serving as
+// scientific tool to verify of the soundness and
+// completeness of the algorithm description. Compilation,
+// execution and redistribution of this file may violate exclusive
+// patents rights in certain countries.
+// The situation being different for every country and changing
+// over time, it is your responsibility to determine which patent
+// rights restrictions apply to you before you compile, use,
+// modify, or redistribute this file. A patent lawyer is qualified
+// to make this determination.
+// If and only if they don't conflict with any patent terms, you
+// can benefit from the following license terms attached to this
+// file.
+//
+// This program is provided for scientific and educational only:
+// you can use and/or modify it for these purposes, but you are
+// not allowed to redistribute this work or derivative works in
+// source or executable form. A license must be obtained from the
+// patent right holders for any other use.
+//
+// 
+//*------------------------ compute_asift_matches-- -------------------------*/
+// Match the ASIFT keypoints. 
+// 
+// Please report bugs and/or send comments to Guoshen Yu yu@cmap.polytechnique.fr
+// 
+// Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image 
+//            Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009. 
+// Reference: ASIFT online demo (You can try ASIFT with your own images online.) 
+//			  http://www.ipol.im/pub/algo/my_affine_sift/
+/*---------------------------------------------------------------------------*/
+
+
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include <time.h>
+
+#ifdef _OPENMP
+#include <omp.h>
+#endif
+
+#include "compute_asift_matches.h"
+#include "libMatch/match.h"
+#include "orsa.h"
+
+
+#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
+
+/* Remove the repetitive matches that appear in different simulations and retain only one */
+void unique_match1(matchingslist &seg_in, matchingslist &seg_out, vector< vector <float> > &Minfoall_in, vector< vector <float> > &Minfoall_out)
+{
+  int i_in, i_out;
+  float x1_in, x2_in, y1_in, y2_in, x1_out, x2_out, y1_out, y2_out;
+  int flag_unique;
+  float d1, d2;
+  int Th2 = 2;
+  
+  seg_out.push_back(seg_in[0]);
+  Minfoall_out.push_back(Minfoall_in[0]);	
+	
+  /* For other matches */
+  if ( seg_in.size() > 1 )	
+    {
+      /* check if a match is unique. if yes, copy */
+		matchingslist::iterator ptr_in = seg_in.begin();
+		for ( i_in = 1; i_in < (int) seg_in.size(); i_in++, ptr_in++ )
+			{				
+			  x1_in = ptr_in->first.x;
+			  y1_in = ptr_in->first.y;
+			  x2_in = ptr_in->second.x; 
+			  y2_in = ptr_in->second.y;	
+
+			  flag_unique = 1;
+
+			  matchingslist::iterator ptr_out = seg_out.begin(); 
+			  for ( i_out = 0; i_out < (int) seg_out.size(); i_out++, ptr_out++ )
+				{
+					x1_out = ptr_out->first.x;
+					y1_out = ptr_out->first.y;
+					x2_out = ptr_out->second.x; 
+					y2_out = ptr_out->second.y;	
+					
+					d1 = (x1_in - x1_out)*(x1_in - x1_out) + (y1_in - y1_out)*(y1_in - y1_out);
+					d2 = (x2_in - x2_out)*(x2_in - x2_out) + (y2_in - y2_out)*(y2_in - y2_out);
+
+	
+					if ( ( d1 <= Th2) && ( d2 <= Th2) )
+					 {
+					   flag_unique = 0;
+					   continue;
+					 }	       
+				}
+
+			  if ( flag_unique == 1 )
+				{									
+					seg_out.push_back(seg_in[i_in]);
+					Minfoall_out.push_back(Minfoall_in[i_in]);						
+				}	  
+		}
+    }
+}
+
+/* Remove the ALL one-to-multiple matches. */
+void clean_match1(matchingslist &seg_in, matchingslist &seg_out, vector< vector <float> > &Minfoall_in, vector< vector <float> > &Minfoall_out)
+{
+  int i1, i2;
+  float x1_in, x2_in, y1_in, y2_in, x1_out, x2_out, y1_out, y2_out;
+
+  // Guoshen Yu, 2010.09.22, Windows version
+ // int flag_unique[seg_in.size()];
+  int tmp_size = seg_in.size();
+  int *flag_unique = new int[tmp_size];
+
+  int sum_flag=0;
+  float d1, d2;
+  int Th1 = 1;
+  int Th2 = 4;
+
+ for ( i1 = 0; i1 < (int) seg_in.size(); i1++ )
+    {
+      flag_unique[i1] = 1;
+    }
+
+  /* Set the flag of redundant matches to 0. */
+	matchingslist::iterator ptr_in = seg_in.begin();
+	for ( i1 = 0; i1 < (int) seg_in.size() - 1; i1++, ptr_in++ )
+    {					
+		x1_in = ptr_in->first.x;
+		y1_in = ptr_in->first.y;
+		x2_in = ptr_in->second.x; 
+		y2_in = ptr_in->second.y;
+
+		matchingslist::iterator ptr_out = ptr_in+1;
+		for ( i2 = i1 + 1; i2 < (int) seg_in.size(); i2++, ptr_out++ )
+		{
+		  x1_out = ptr_out->first.x;
+		  y1_out = ptr_out->first.y;
+		  x2_out = ptr_out->second.x; 
+		  y2_out = ptr_out->second.y;	
+
+		  d1 = (x1_in - x1_out)*(x1_in - x1_out) + (y1_in - y1_out)*(y1_in - y1_out);
+		  d2 = (x2_in - x2_out)*(x2_in - x2_out) + (y2_in - y2_out)*(y2_in - y2_out);
+
+		  /* If redundant, set flags of both elements to 0.*/
+		  if ( ( ( d1 <= Th1) && ( d2 > Th2) ) || ( ( d1 > Th2) && ( d2 <= Th1) ) )
+			{
+			  flag_unique[i1] = 0;
+			  flag_unique[i2] = 0;				  
+			}
+		}		
+    }
+
+	for ( i1 = 0; i1 < (int) seg_in.size(); i1++ )
+    {
+      sum_flag += flag_unique[i1];
+    }
+  
+	/* Copy the matches that are not redundant */
+	if ( sum_flag > 0 )
+    {
+	  for (  i1 = 0; i1 < (int) seg_in.size(); i1++ )
+		{
+		  if ( flag_unique[i1] == 1 )
+			{				
+				seg_out.push_back(seg_in[i1]);
+				Minfoall_out.push_back(Minfoall_in[i1]);   
+			}
+		}
+    }
+  else
+    {
+      printf("Warning: all matches are redundant and are thus removed! This step of match cleaning is short circuited. (Normally this should not happen...)\n");
+    }
+
+	// Guoshen Yu, 2010.09.22, Windows version
+	delete [] flag_unique;
+}
+
+
+/* Remove the ALL multiple-to-one matches */
+void clean_match2(matchingslist &seg_in, matchingslist &seg_out, vector< vector <float> > &Minfoall_in, vector< vector <float> > &Minfoall_out)
+{
+	int i1, i2;
+	float x1_in, x2_in, y1_in, y2_in, x1_out, x2_out, y1_out, y2_out;
+
+  // Guoshen Yu, 2010.09.22, Windows version
+  // int flag_unique[seg_in.size()];
+  int tmp_size = seg_in.size();
+  int *flag_unique = new int[tmp_size];
+
+	int sum_flag=0;
+	float d1, d2;
+	int Th1 = 1;
+	int Th2 = 4;
+
+	for ( i1 = 0; i1 < (int) seg_in.size(); i1++ )
+    {
+      flag_unique[i1] = 1;
+    }
+
+	/* Set the flag of redundant matches to 0. */
+	matchingslist::iterator ptr_in = seg_in.begin();
+	for ( i1 = 0; i1 < (int) seg_in.size() - 1; i1++, ptr_in++ )
+	{																				
+		x1_in = ptr_in->first.x;
+		y1_in = ptr_in->first.y;
+		x2_in = ptr_in->second.x; 
+		y2_in = ptr_in->second.y;	
+															
+		matchingslist::iterator ptr_out = ptr_in+1;
+		for ( i2 = i1 + 1; i2 < (int) seg_in.size(); i2++, ptr_out++ )
+		{
+			
+		  x1_out = ptr_out->first.x;
+		  y1_out = ptr_out->first.y;
+		  x2_out = ptr_out->second.x; 
+		  y2_out = ptr_out->second.y;	
+
+		  d1 = (x1_in - x1_out)*(x1_in - x1_out) + (y1_in - y1_out)*(y1_in - y1_out);
+		  d2 = (x2_in - x2_out)*(x2_in - x2_out) + (y2_in - y2_out)*(y2_in - y2_out);
+
+
+		  /* If redundant, set flags of both elements to 0.*/	
+		  if ( ( d1 > Th2) && ( d2 <= Th1) ) 
+			{
+			  flag_unique[i1] = 0;
+			  flag_unique[i2] = 0;				  
+			}
+		}
+	}
+
+  for ( i1 = 0; i1 < (int) seg_in.size(); i1++ )
+  {
+	  sum_flag += flag_unique[i1];
+  }
+  
+  /* Copy the matches that are not redundant */
+  if ( sum_flag > 0 )
+  {
+	  for (  i1 = 0; i1 < (int) seg_in.size(); i1++ )
+	  {
+		  if ( flag_unique[i1] == 1 )
+		  {			 
+				seg_out.push_back(seg_in[i1]);
+				Minfoall_out.push_back(Minfoall_in[i1]);    
+		  }
+	  }
+  }
+  else
+  {
+      printf("Warning: all matches are redundant and are thus removed! This step of match cleaning is short circuited. (Normally this should not happen...)\n");
+  }
+
+  // Guoshen Yu, 2010.09.22, Windows version
+  delete [] flag_unique;
+}
+
+
+// Normalize the coordinates of the matched points by compensating the simulate affine transformations
+void compensate_affine_coor(matching &matching1, int w1, int h1, int w2, int h2, float t1, float t2, float Rtheta, float t_im2_1, float t_im2_2, float Rtheta2)
+{
+	float x_ori, y_ori;	
+	float x_ori2, y_ori2, x_tmp, y_tmp;
+	float x1, y1, x2, y2;
+		
+	Rtheta = Rtheta*PI/180;
+	
+	if ( Rtheta <= PI/2 )
+    {
+		x_ori = 0;
+		y_ori = w1 * sin(Rtheta) / t1;
+    }
+	else
+    {
+		x_ori = -w1 * cos(Rtheta) / t2;
+		y_ori = ( w1 * sin(Rtheta) + h1 * sin(Rtheta-PI/2) ) / t1;
+    }
+	
+	Rtheta2 = Rtheta2*PI/180;
+	
+	if ( Rtheta2 <= PI/2 )
+    {
+		x_ori2 = 0;
+		y_ori2 = w2 * sin(Rtheta2) / t_im2_1;
+    }
+	else
+    {
+		x_ori2 = -w2 * cos(Rtheta2) / t_im2_2;
+		y_ori2 = ( w2 * sin(Rtheta2) + h2 * sin(Rtheta2-PI/2) ) / t_im2_1;
+    }
+	
+	float sin_Rtheta = sin(Rtheta);
+	float cos_Rtheta = cos(Rtheta);
+	float sin_Rtheta2 = sin(Rtheta2);
+	float cos_Rtheta2 = cos(Rtheta2);
+	
+	x1 = matching1.first.x;
+	y1 = matching1.first.y;	
+	x2 = matching1.second.x;
+	y2 = matching1.second.y;
+	
+	/* project the coordinates of im1 to original image before tilt-rotation transform */
+	/* Get the coordinates with respect to the 'origin' of the original image before transform */
+	x1 = x1 - x_ori;
+	y1 = y1 - y_ori;
+	/* Invert tilt */
+	x1 = x1 * t2;
+	y1 = y1 * t1;
+	/* Invert rotation (Note that the y direction (vertical) is inverse to the usual concention. Hence Rtheta instead of -Rtheta to inverse the rotation.) */
+	x_tmp = cos_Rtheta*x1 - sin_Rtheta*y1;
+	y_tmp = sin_Rtheta*x1 + cos_Rtheta*y1;
+	x1 = x_tmp;
+	y1 = y_tmp;
+	
+	/* Coordinate projection on image2  */
+	
+	/* Get the coordinates with respect to the 'origin' of the original image before transform */
+	x2 = x2 - x_ori2;
+	y2 = y2 - y_ori2;
+	/* Invert tilt */
+	x2 = x2 * t_im2_2;
+	y2 = y2 * t_im2_1;
+	/* Invert rotation (Note that the y direction (vertical) is inverse to the usual concention. Hence Rtheta instead of -Rtheta to inverse the rotation.) */
+	x_tmp = cos_Rtheta2*x2 - sin_Rtheta2*y2;
+	y_tmp = sin_Rtheta2*x2 + cos_Rtheta2*y2;
+	x2 = x_tmp;
+	y2 = y_tmp;
+	
+	matching1.first.x = x1;
+	matching1.first.y = y1;	
+	matching1.second.x = x2;
+	matching1.second.y = y2;
+}
+
+int compute_asift_matches(int num_of_tilts1, int num_of_tilts2, int w1, int h1, int w2, int h2, int verb, vector< vector< keypointslist > >& keys1, vector< vector< keypointslist > >& keys2, matchingslist &matchings, siftPar &siftparameters)
+// Match the ASIFT keypoints. 
+// Input:
+// num_of_tilts1, num_of_tilts2: number of tilts that have been simulated on the two images. (They can be different.)
+// w1, h1, w2, h2: widht/height of image1/image2.
+// verb: 1/0 --> show/don not show verbose messages. (1 for debugging) 
+// keys1, keys2: ASIFT keypoints of image1/image2. (They should be calculated with compute_asift_keypoints.)
+// matchings (output): the coordinates (col1, row1, col2, row2) of all the matching points. 
+//
+// Output: the number of matching points.
+{  	
+	float t_min, t_k, t;
+	int num_tilt1, num_tilt2, tt, num_rot_t2, num_rot1, rr;
+	int cc;
+
+	int tt2, rr2, num_rot1_2;
+	float t_im2;
+
+	/* It stores the coordinates of ALL matches points of ALL affine simulations  */
+	vector< vector <float> > Minfoall;
+
+	int Tmin = 8;					
+	float nfa_max = -2;
+
+	num_rot_t2 = 10;
+
+	t_min = 1;
+	t_k = sqrt(2.);
+
+	num_tilt1 = num_of_tilts1;
+	num_tilt2 = num_of_tilts2;
+
+	if ( ( num_tilt1 < 1 ) || ( num_tilt2 < 1 ) )
+	{
+		printf("Number of tilts num_tilt should be equal or larger than 1. \n");
+		exit(-1);	
+	}
+
+	
+	/* Initialize the vector structure for the matching points */	
+	std::vector< vector< vector < vector < matchingslist > > > > matchings_vec(num_tilt1);	
+	std::vector< vector< vector< vector< vector< vector <float> > > > > > Minfoall_vec(num_tilt1);	
+	for (tt = 1; tt <= num_tilt1; tt++)
+	{		
+		t = t_min * pow(t_k, tt-1);
+		if ( t == 1 )
+		{			
+			num_rot1 = 1;
+		}
+		else
+		{
+			num_rot1 = round(num_rot_t2*t/2);        
+			if ( num_rot1%2 == 1 )
+			{
+				num_rot1 = num_rot1 + 1;
+			}
+			num_rot1 = num_rot1 / 2;
+		}     
+		
+		matchings_vec[tt-1].resize(num_rot1);
+		Minfoall_vec[tt-1].resize(num_rot1);
+		
+		for  ( rr = 1; rr <= num_rot1; rr++ ) 
+		{   
+			
+			matchings_vec[tt-1][rr-1].resize(num_tilt2);
+			Minfoall_vec[tt-1][rr-1].resize(num_tilt2);
+			
+			for (tt2 = 1; tt2 <= num_tilt2; tt2++)				
+			{			
+				t_im2 = t_min * pow(t_k, tt2-1);
+				if ( t_im2 == 1 )
+				{
+					num_rot1_2 = 1;
+				}
+				else
+				{
+					num_rot1_2 = round(num_rot_t2*t_im2/2);        
+					if ( num_rot1_2%2 == 1 )
+					{
+						num_rot1_2 = num_rot1_2 + 1;
+					}
+					num_rot1_2 = num_rot1_2 / 2;
+				}
+				
+				matchings_vec[tt-1][rr-1][tt2-1].resize(num_rot1_2);		
+				Minfoall_vec[tt-1][rr-1][tt2-1].resize(num_rot1_2);				
+			}
+		}
+	}
+	
+	
+	///*
+	// * setup the tilt and rotation parameters
+	// * for all the loops, this vector will hold
+	// * the following parameters: 
+	// * tt, num_rot1, rr, tt2, num_rot1_2, rr2
+	// */
+	//vector<int> tilt_rot;
+	///* loop on tilts for image 1 */ 
+	//for (int tt = 1; tt <= num_tilt1; tt++)
+	//{
+	//    float t = t_min * pow(t_k, tt-1);
+	//    int num_rot1;
+	//    /* if tilt t = 1, do not simulate rotation. */
+	//    if ( 1 == tt )
+	//		num_rot1 = 1;
+	//    else
+	//    {
+	//		/* number of rotations to simulate */
+	//		num_rot1 = round(num_rot_t2 * t / 2);        
+	//		if ( num_rot1%2 == 1 )
+	//			num_rot1 = num_rot1 + 1;
+	//		num_rot1 = num_rot1 / 2;
+	//    }
+	//    /* loop on rotations for image 1 */ 
+	//    for  (int rr = 1; rr <= num_rot1; rr++ ) 
+	//    {   
+	//		/* loop on tilts for image 2 */
+	//		for (int tt2 = 1; tt2 <= num_tilt2; tt2++)
+	//		{
+	//			float t_im2 = t_min * pow(t_k, tt2-1);
+	//			int num_rot1_2;
+	//			if ( tt2 == 1 )
+	//				num_rot1_2 = 1;
+	//			else
+	//			{
+	//				num_rot1_2 = round(num_rot_t2 * t_im2 / 2);        
+	//				if ( num_rot1_2%2 == 1 )
+	//					num_rot1_2 = num_rot1_2 + 1;
+	//				num_rot1_2 = num_rot1_2 / 2;
+	//			}
+	//			/* loop on rotations for image 2 */ 
+	//			for  (int rr2 = 1; rr2 <= num_rot1_2; rr2++ ) 
+	//			{
+	//				tilt_rot.push_back(tt);
+	//				tilt_rot.push_back(num_rot1);
+	//				tilt_rot.push_back(rr);
+	//				tilt_rot.push_back(tt2);
+	//				tilt_rot.push_back(num_rot1_2);
+	//				tilt_rot.push_back(rr2);
+	//			}
+	//		}
+	//    }
+	//}
+		
+	/* Calculate the number of simulations */
+#ifdef _OPENMP
+	omp_set_nested(1);
+#endif 
+	// loop on tilts for image 1. 
+#pragma omp parallel for private(tt)
+	for (int tt = 1; tt <= num_tilt1; tt++)
+	{
+		
+		float t = t_min * pow(t_k, tt-1);
+		
+		/* Attention: the t1, t2 do not follow the same convention as in compute_asift_keypoints */   
+		float t1 = t; 
+		float t2 = 1;
+		
+		int num_rot1;
+		
+		// If tilt t = 1, do not simulate rotation. 	
+		if ( tt == 1 )
+		{
+			num_rot1 = 1;
+		}
+		else
+		{
+			// The number of rotations to simulate under the current tilt.   
+			num_rot1 = round(num_rot_t2*t/2);        
+			if ( num_rot1%2 == 1 )
+			{
+				num_rot1 = num_rot1 + 1;
+			}
+			num_rot1 = num_rot1 / 2;
+		}
+		
+		
+		float delta_theta = PI/num_rot1;
+		
+		// Loop on rotations for image 1. 
+#pragma omp parallel for private(rr)
+		for  ( int rr = 1; rr <= num_rot1; rr++ ) 
+		{   
+			float theta = delta_theta * (rr-1);
+			theta = theta * 180 / PI;
+			
+			/* Read the keypoints of image 1 */	       
+			keypointslist keypoints1 = keys1[tt-1][rr-1];
+			
+			// loop on tilts for image 2.
+#pragma omp parallel for private(tt2)
+			for (int tt2 = 1; tt2 <= num_tilt2; tt2++)				
+			{
+				float t_im2 = t_min * pow(t_k, tt2-1);
+				
+				/* Attention: the t1, t2 do not follow the same convention as in asift_v1.c */
+				float t_im2_1 = t_im2; 
+				float t_im2_2 = 1;
+				
+				int num_rot1_2;
+				
+				if ( tt2 == 1 )
+				{
+					num_rot1_2 = 1;
+				}
+				else
+				{
+					num_rot1_2 = round(num_rot_t2*t_im2/2);        
+					if ( num_rot1_2%2 == 1 )
+					{
+						num_rot1_2 = num_rot1_2 + 1;
+					}
+					num_rot1_2 = num_rot1_2 / 2;
+				}
+				
+				float delta_theta2 = PI/num_rot1_2;
+				
+#pragma omp parallel for private(rr2)
+				// Loop on rotations for image 2. 
+				for  ( int rr2 = 1; rr2 <= num_rot1_2; rr2++ ) 
+				{   
+					float theta2 = delta_theta2 * (rr2-1);
+					theta2 = theta2 * 180 / PI;
+					
+					/* Read the keypoints of image2. */	       
+					keypointslist keypoints2 = keys2[tt2-1][rr2-1];
+					
+					
+					// Match the keypoints of image1 and image2.
+					matchingslist matchings1;					
+					compute_sift_matches(keypoints1,keypoints2,matchings1,siftparameters);		       
+					
+					if ( verb ) 
+					{
+						printf("t1=%.2f, theta1=%.2f, num keys1 = %d, t2=%.2f, theta2=%.2f, num keys2 = %d, num matches=%d\n", t, theta, (int) keypoints1.size(), t_im2, theta2, (int) keypoints2.size(), (int) matchings1.size());
+					}
+					
+					/* Store the matches */
+					if ( matchings1.size() > 0 )
+					{
+						matchings_vec[tt-1][rr-1][tt2-1][rr2-1] = matchingslist(matchings1.size());
+            Minfoall_vec[tt-1][rr-1][tt2-1][rr2-1].resize(matchings1.size());
+						
+						for ( int cc = 0; cc < (int) matchings1.size(); cc++ )		   
+						{		      														
+							///// In the coordinates the affine transformations have been normalized already in compute_asift_keypoints. So no need to normalize here. 
+							// Normalize the coordinates of the matched points by compensating the simulate affine transformations
+							//	compensate_affine_coor(matchings1[cc], w1, h1, w2, h2, t1, t2, theta, t_im2_1, t_im2_2, theta2);
+							
+							matchings_vec[tt-1][rr-1][tt2-1][rr2-1][cc] = matchings1[cc];
+							
+							vector<float> Minfo_1match(6);
+							Minfo_1match[0] = t1;
+							Minfo_1match[1] = t2;
+							Minfo_1match[2] = theta;
+							Minfo_1match[3] = t_im2_1;
+							Minfo_1match[4] = t_im2_2;
+							Minfo_1match[5] = theta2;									
+							Minfoall_vec[tt-1][rr-1][tt2-1][rr2-1][cc] = Minfo_1match;
+						} 												
+					}
+				}
+			}
+		}
+	}
+			
+	// Move the matches to a 1D vector
+	for (tt = 1; tt <= num_tilt1; tt++)
+	{				
+		t = t_min * pow(t_k, tt-1);
+
+		if ( t == 1 )
+		{			
+			num_rot1 = 1;
+		}
+		else
+		{
+			num_rot1 = round(num_rot_t2*t/2);        
+			if ( num_rot1%2 == 1 )
+			{
+				num_rot1 = num_rot1 + 1;
+			}
+			num_rot1 = num_rot1 / 2;
+		}     
+					
+		for  ( rr = 1; rr <= num_rot1; rr++ ) 
+		{   			
+			for (tt2 = 1; tt2 <= num_tilt2; tt2++)				
+			{			
+				t_im2 = t_min * pow(t_k, tt2-1);
+				if ( t_im2 == 1 )
+				{
+					num_rot1_2 = 1;
+				}
+				else
+				{
+					num_rot1_2 = round(num_rot_t2*t_im2/2);        
+					if ( num_rot1_2%2 == 1 )
+					{
+						num_rot1_2 = num_rot1_2 + 1;
+					}
+					num_rot1_2 = num_rot1_2 / 2;
+				}
+		
+				for  ( rr2 = 1; rr2 <= num_rot1_2; rr2++ ) 
+				{ 
+					for ( cc=0; cc < (int) matchings_vec[tt-1][rr-1][tt2-1][rr2-1].size(); cc++ )
+					{
+						matchings.push_back(matchings_vec[tt-1][rr-1][tt2-1][rr2-1][cc]);
+						Minfoall.push_back(Minfoall_vec[tt-1][rr-1][tt2-1][rr2-1][cc]);
+					}
+				}
+			}
+		}
+	}
+
+	if ( verb )
+	{
+	  printf("The number of matches is %d \n", (int) matchings.size());
+	}
+
+	
+	if ( matchings.size() > 0 )
+	{
+	  /* Remove the repetitive matches that appear in different simulations and retain only one. */		
+		// Since tilts are simuated on both image 1 and image 2, it is normal to have repetitive matches. 
+		matchingslist matchings_unique;	
+		vector< vector<float> > Minfoall_unique;			
+		unique_match1(matchings, matchings_unique, Minfoall, Minfoall_unique);      		
+		matchings = matchings_unique;
+		Minfoall = Minfoall_unique; 
+		
+		if ( verb )    
+			{
+			  printf("The number of unique matches is %d \n", (int) matchings.size());
+			}
+	  
+		// There often appear to be some one-to-multiple/multiple-to-one matches (one point in image 1 matches with many points in image 2/vice versa). 
+		// This is an artifact of SIFT on interpolated images, as the interpolation tends to create some auto-similar structures (steps for example). 
+		// These matches need to be removed.		
+		  /* Separating the removal of  multiple-to-one and one-to-multiple in two steps:
+		 - first remove multiple-to-one
+		 - then remove one-to-multiple
+		 This allows to avoid removing some good matches: multiple-to-one matches is much more frequent than one-to-multiple. Sometimes some of the feature points in image 1 that take part in "multiple-to-one" bad matches have also correct matches in image 2. The modified scheme avoid removing these good matches. */
+	 
+		// Remove to multiple-to-one matches	
+		matchings_unique.clear();
+		Minfoall_unique.clear();		
+		clean_match2(matchings, matchings_unique, Minfoall, Minfoall_unique);    		
+		matchings = matchings_unique;
+		Minfoall = Minfoall_unique;
+		
+		// Remove to one-to-multiple matches	
+		matchings_unique.clear();
+		Minfoall_unique.clear();		
+		clean_match1(matchings, matchings_unique, Minfoall, Minfoall_unique);    		
+		matchings = matchings_unique;
+		Minfoall = Minfoall_unique;
+
+				
+		if ( verb )
+		{
+			printf("The number of final matches is %d \n", (int) matchings.size());
+		}
+		
+		// If enough matches to do epipolar filtering
+		if ( (int) matchings.size() >= Tmin )
+		{			
+			//////// Use ORSA to filter out the incorrect matches. 
+			// store the coordinates of the matching points
+			vector<Match> match_coor; 
+			for ( cc = 0; cc < (int) matchings.size(); cc++ )	
+			{
+				Match match1_coor;
+				match1_coor.x1 = matchings[cc].first.x;
+				match1_coor.y1 = matchings[cc].first.y;
+				match1_coor.x2 = matchings[cc].second.x;
+				match1_coor.y2 = matchings[cc].second.y;
+				
+				match_coor.push_back(match1_coor);							
+			}
+			
+			std::vector<float> index;
+			// Guoshen Yu, 2010.09.23
+			// index.clear();
+			
+			int t_value_orsa=10000;
+			int verb_value_orsa=0;
+			int n_flag_value_orsa=0;
+			int mode_value_orsa=2;
+			int stop_value_orsa=0;
+			
+			// epipolar filtering with the Moisan-Stival ORSA algorithm. 
+//			float nfa = orsa(w1, h1, match_coor, index, t_value_orsa, verb_value_orsa, n_flag_value_orsa, mode_value_orsa, stop_value_orsa);
+			float nfa = orsa((w1+w2)/2, (h1+h2)/2, match_coor, index, t_value_orsa, verb_value_orsa, n_flag_value_orsa, mode_value_orsa, stop_value_orsa);
+
+
+			// if the matching is significant, register the good matches
+			if ( nfa < nfa_max )
+			{
+				// extract meaningful matches
+				matchings_unique.clear();
+				Minfoall_unique.clear();
+				for ( cc = 0; cc < (int) index.size(); cc++ )				
+				{
+					matchings_unique.push_back(matchings[(int)index[cc]]);
+					Minfoall_unique.push_back(Minfoall[(int)index[cc]]);
+				}
+				matchings = matchings_unique;
+				Minfoall = Minfoall_unique;     
+				
+				cout << "The two images match! " << matchings.size() << " matchings are identified. log(nfa)=" << nfa << "." << endl;
+			}
+			else 
+			{
+				matchings.clear();
+				Minfoall.clear();
+				cout << "The two images do not match. The matching is not significant: log(nfa)=" << nfa << "." << endl;
+			}
+		}
+		else 
+		{
+			matchings.clear();
+			Minfoall.clear();
+			cout << "The two images do not match. Not enough matches to do epipolar filtering." << endl;		
+		}
+	}
+	else 
+	{
+		cout << "The two images do not match.\n" << endl;
+	}
+	
+	return matchings.size();
+
+}
+

ongoing/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.h

@@ -0,0 +1,51 @@
+// Copyright (c) 2008-2011, Guoshen Yu <yu@cmap.polytechnique.fr>
+// Copyright (c) 2008-2011, Jean-Michel Morel <morel@cmla.ens-cachan.fr>
+//
+// WARNING: 
+// This file implements an algorithm possibly linked to the patent
+//
+// Jean-Michel Morel and Guoshen Yu, Method and device for the invariant 
+// affine recognition recognition of shapes (WO/2009/150361), patent pending. 
+//
+// This file is made available for the exclusive aim of serving as
+// scientific tool to verify of the soundness and
+// completeness of the algorithm description. Compilation,
+// execution and redistribution of this file may violate exclusive
+// patents rights in certain countries.
+// The situation being different for every country and changing
+// over time, it is your responsibility to determine which patent
+// rights restrictions apply to you before you compile, use,
+// modify, or redistribute this file. A patent lawyer is qualified
+// to make this determination.
+// If and only if they don't conflict with any patent terms, you
+// can benefit from the following license terms attached to this
+// file.
+//
+// This program is provided for scientific and educational only:
+// you can use and/or modify it for these purposes, but you are
+// not allowed to redistribute this work or derivative works in
+// source or executable form. A license must be obtained from the
+// patent right holders for any other use.
+//
+// 
+//*------------------------ compute_asift_matches-- -------------------------*/
+// Match the ASIFT keypoints. 
+// 
+// Please report bugs and/or send comments to Guoshen Yu yu@cmap.polytechnique.fr
+// 
+// Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image 
+//            Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009. 
+// Reference: ASIFT online demo (You can try ASIFT with your own images online.) 
+//			  http://www.ipol.im/pub/algo/my_affine_sift/
+/*---------------------------------------------------------------------------*/
+
+#include "library.h"
+#include "demo_lib_sift.h"
+#include "frot.h"
+#include "fproj.h"
+#include <vector>
+using namespace std;
+
+
+int compute_asift_matches(int num_of_tilts1, int num_of_tilts2, int w1, int h1, int w2, int h2, int verb, vector< vector< keypointslist > >& keys1, vector< vector< keypointslist > >& keys2, matchingslist &matchings, siftPar &siftparameters);
+

ongoing/ASIFT_tests/demo_ASIFT_src/demo_ASIFT.cpp

@@ -0,0 +1,404 @@
+// Copyright (c) 2008-2011, Guoshen Yu <yu@cmap.polytechnique.fr>
+// Copyright (c) 2008-2011, Jean-Michel Morel <morel@cmla.ens-cachan.fr>
+//
+// WARNING: 
+// This file implements an algorithm possibly linked to the patent
+//
+// Jean-Michel Morel and Guoshen Yu, Method and device for the invariant 
+// affine recognition recognition of shapes (WO/2009/150361), patent pending. 
+//
+// This file is made available for the exclusive aim of serving as
+// scientific tool to verify of the soundness and
+// completeness of the algorithm description. Compilation,
+// execution and redistribution of this file may violate exclusive
+// patents rights in certain countries.
+// The situation being different for every country and changing
+// over time, it is your responsibility to determine which patent
+// rights restrictions apply to you before you compile, use,
+// modify, or redistribute this file. A patent lawyer is qualified
+// to make this determination.
+// If and only if they don't conflict with any patent terms, you
+// can benefit from the following license terms attached to this
+// file.
+//
+// This program is provided for scientific and educational only:
+// you can use and/or modify it for these purposes, but you are
+// not allowed to redistribute this work or derivative works in
+// source or executable form. A license must be obtained from the
+// patent right holders for any other use.
+//
+// 
+//*----------------------------- demo_ASIFT  --------------------------------*/
+// Detect corresponding points in two images with the ASIFT method. 
+
+// Please report bugs and/or send comments to Guoshen Yu yu@cmap.polytechnique.fr
+// 
+// Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image 
+//            Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009. 
+// Reference: ASIFT online demo (You can try ASIFT with your own images online.) 
+//			  http://www.ipol.im/pub/algo/my_affine_sift/
+/*---------------------------------------------------------------------------*/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <time.h>
+#include <vector>
+using namespace std;
+
+#ifdef _OPENMP
+#include <omp.h>
+#endif
+
+#include "demo_lib_sift.h"
+#include "io_png/io_png.h"
+
+#include "library.h"
+#include "frot.h"
+#include "fproj.h"
+#include "compute_asift_keypoints.h"
+#include "compute_asift_matches.h"
+
+# define IM_X 800
+# define IM_Y 600
+
+int main(int argc, char **argv)
+{			
+	
+    if ((argc != 8) && (argc != 9)) {
+        std::cerr << " ******************************************************************************* " << std::endl
+				  << " ***************************  ASIFT image matching  **************************** " << std::endl
+				  << " ******************************************************************************* " << std::endl
+				  << "Usage: " << argv[0] << " imgIn1.png imgIn2.png imgOutVert.png imgOutHori.png " << std::endl
+										  << "           matchings.txt keys1.txt keys2.txt [Resize option: 0/1] " << std::endl
+									      << "- imgIn1.png, imgIn2.png: input images (in PNG format). " << std::endl
+										  << "- imgOutVert.png, imgOutHori.png: output images (vertical/horizontal concatenated, " << std::endl
+				                          << "  in PNG format.) The detected matchings are connected by write lines." << std::endl
+										  << "- matchings.txt: coordinates of matched points (col1, row1, col2, row2). " << std::endl
+										  << "- keys1.txt keys2.txt: ASIFT keypoints of the two images." << std::endl
+										  << "- [optional 0/1]. 1: input images resize to 800x600 (default). 0: no resize. " << std::endl 
+   				  << " ******************************************************************************* " << std::endl
+				  << " *********************  Jean-Michel Morel, Guoshen Yu, 2010 ******************** " << std::endl
+				  << " ******************************************************************************* " << std::endl;
+        return 1;
+    }
+	
+	//////////////////////////////////////////////// Input
+	// Read image1
+    float * iarr1;
+    size_t w1, h1;
+    if (NULL == (iarr1 = read_png_f32_gray(argv[1], &w1, &h1))) {
+        std::cerr << "Unable to load image file " << argv[1] << std::endl;
+        return 1;
+    }
+    std::vector<float> ipixels1(iarr1, iarr1 + w1 * h1);
+	free(iarr1); /*memcheck*/
+	
+	// Read image2
+    float * iarr2;
+    size_t w2, h2;
+    if (NULL == (iarr2 = read_png_f32_gray(argv[2], &w2, &h2))) {
+        std::cerr << "Unable to load image file " << argv[2] << std::endl;
+        return 1;
+    }
+    std::vector<float> ipixels2(iarr2, iarr2 + w2 * h2);
+	free(iarr2); /*memcheck*/	
+	
+	///// 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, zoom2=0;	
+	int wS1=0, hS1=0, wS2=0, hS2=0;
+	vector<float> ipixels1_zoom, ipixels2_zoom;	
+		
+	int flag_resize = 1;
+	if (argc == 9)
+	{	
+		flag_resize = atoi(argv[8]);
+	}
+	
+	if ((argc == 8) || (flag_resize != 0))
+	{
+		cout << "WARNING: The input images are 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); 
+		
+		
+		// Resize image 2 
+		float area2 = w2 * h2;
+		zoom2 = sqrt(area2/areaS);
+				
+		wS2 = (int) (w2 / zoom2);
+		hS2 = (int) (h2 / zoom2);
+		
+		fproj_sx = wS2;
+		fproj_sy = hS2;     
+		
+		fproj_x2 = wS2;
+		fproj_y3 = hS2;
+		
+		/* Anti-aliasing filtering along vertical direction */
+		if ( zoom1 > 1 )
+		{
+			float sigma_aa = InitSigma_aa * zoom2 / 2;
+			GaussianBlur1D(ipixels2,w2,h2,sigma_aa,1);
+			GaussianBlur1D(ipixels2,w2,h2,sigma_aa,0);
+		}
+			
+		// simulate a tilt: subsample the image along the vertical axis by a factor of t.
+		ipixels2_zoom.resize(wS2*hS2);
+		fproj (ipixels2, ipixels2_zoom, w2, h2, &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;
+		
+		ipixels2_zoom.resize(w2*h2);	
+		ipixels2_zoom = ipixels2;
+		wS2 = w2;
+		hS2 = h2;
+		zoom2 = 1;
+	}
+
+	
+	///// Compute ASIFT keypoints
+	// number N of tilts to simulate t = 1, \sqrt{2}, (\sqrt{2})^2, ..., {\sqrt{2}}^(N-1)
+	int num_of_tilts1 = 7;
+	int num_of_tilts2 = 7;
+	// int num_of_tilts1 = 1;
+	// int num_of_tilts2 = 1;
+	int verb = 0;
+	// Define the SIFT parameters
+	siftPar siftparameters;	
+	default_sift_parameters(siftparameters);
+
+	vector< vector< keypointslist > > keys1;		
+	vector< vector< keypointslist > > keys2;	
+	
+	int num_keys1=0, num_keys2=0;
+	
+	
+	cout << "Computing keypoints on the two images..." << endl;
+	time_t tstart, tend;	
+	tstart = time(0);
+
+	num_keys1 = compute_asift_keypoints(ipixels1_zoom, wS1, hS1, num_of_tilts1, verb, keys1, siftparameters);
+	num_keys2 = compute_asift_keypoints(ipixels2_zoom, wS2, hS2, num_of_tilts2, verb, keys2, siftparameters);
+	
+	tend = time(0);
+	cout << "Keypoints computation accomplished in " << difftime(tend, tstart) << " seconds." << endl;
+	
+	//// Match ASIFT keypoints
+	int num_matchings;
+	matchingslist matchings;	
+	cout << "Matching the keypoints..." << endl;
+	tstart = time(0);
+	num_matchings = compute_asift_matches(num_of_tilts1, num_of_tilts2, wS1, hS1, wS2, 
+										  hS2, verb, keys1, keys2, matchings, siftparameters);
+	tend = time(0);
+	cout << "Keypoints matching accomplished in " << difftime(tend, tstart) << " seconds." << endl;
+	
+	///////////////// Output image containing line matches (the two images are concatenated one above the other)
+	int band_w = 20; // insert a black band of width band_w between the two images for better visibility
+	
+	int wo =  MAX(w1,w2);
+	int ho = h1+h2+band_w;
+	
+	float *opixelsASIFT = new float[wo*ho];
+	
+	for(int j = 0; j < (int) ho; j++)
+		for(int i = 0; i < (int) wo; i++)  opixelsASIFT[j*wo+i] = 255;		
+	
+	/////////////////////////////////////////////////////////////////// Copy both images to output
+	for(int j = 0; j < (int) h1; j++)
+		for(int i = 0; i < (int) w1; i++)  opixelsASIFT[j*wo+i] = ipixels1[j*w1+i];				
+	
+	for(int j = 0; j < (int) h2; j++)
+		for(int i = 0; i < (int) (int)w2; i++)  opixelsASIFT[(h1 + band_w + j)*wo + i] = ipixels2[j*w2 + i];	
+	
+	//////////////////////////////////////////////////////////////////// Draw matches
+	matchingslist::iterator ptr = matchings.begin();
+	for(int i=0; i < (int) matchings.size(); i++, ptr++)
+	{		
+		draw_line(opixelsASIFT, (int) (zoom1*ptr->first.x), (int) (zoom1*ptr->first.y), 
+				  (int) (zoom2*ptr->second.x), (int) (zoom2*ptr->second.y) + h1 + band_w, 255.0f, wo, ho);		
+	}
+			
+	///////////////////////////////////////////////////////////////// Save imgOut	
+	write_png_f32(argv[3], opixelsASIFT, wo, ho, 1);
+	
+	delete[] opixelsASIFT; /*memcheck*/
+	
+	/////////// Output image containing line matches (the two images are concatenated one aside the other)
+	int woH =  w1+w2+band_w;
+	int hoH = MAX(h1,h2);
+	
+	float *opixelsASIFT_H = new float[woH*hoH];
+	
+	for(int j = 0; j < (int) hoH; j++)
+		for(int i = 0; i < (int) woH; i++)  opixelsASIFT_H[j*woH+i] = 255;
+	
+	/////////////////////////////////////////////////////////////////// Copy both images to output
+	for(int j = 0; j < (int) h1; j++)
+		for(int i = 0; i < (int) w1; i++)  opixelsASIFT_H[j*woH+i] = ipixels1[j*w1+i];				
+	
+	for(int j = 0; j < (int) h2; j++)
+		for(int i = 0; i < (int) w2; i++)  opixelsASIFT_H[j*woH + w1 + band_w + i] = ipixels2[j*w2 + i];	
+
+	
+	//////////////////////////////////////////////////////////////////// Draw matches
+	matchingslist::iterator ptrH = matchings.begin();
+	for(int i=0; i < (int) matchings.size(); i++, ptrH++)
+	{		
+		draw_line(opixelsASIFT_H, (int) (zoom1*ptrH->first.x), (int) (zoom1*ptrH->first.y), 
+				  (int) (zoom2*ptrH->second.x) + w1 + band_w, (int) (zoom2*ptrH->second.y), 255.0f, woH, hoH);		
+	}
+	
+	///////////////////////////////////////////////////////////////// Save imgOut	
+	write_png_f32(argv[4], opixelsASIFT_H, woH, hoH, 1);
+	
+	delete[] opixelsASIFT_H; /*memcheck*/
+	
+	////// Write the coordinates of the matched points (row1, col1, row2, col2) to the file argv[5]
+	std::ofstream file(argv[5]);
+	if (file.is_open())
+	{		
+		// Write the number of matchings in the first line
+		file << num_matchings << std::endl;
+		
+		matchingslist::iterator ptr = matchings.begin();
+		for(int i=0; i < (int) matchings.size(); i++, ptr++)		
+		{
+			file << zoom1*ptr->first.x << "  " << zoom1*ptr->first.y << "  " <<  zoom2*ptr->second.x << 
+			"  " <<  zoom2*ptr->second.y << std::endl;
+		}		
+	}
+	else 
+	{
+		std::cerr << "Unable to open the file matchings."; 
+	}
+
+	file.close();
+
+
+	
+	// Write all the keypoints (row, col, scale, orientation, desciptor (128 integers)) to 
+	// the file argv[6] (so that the users can match the keypoints with their own matching algorithm if they wish to)
+	// keypoints in the 1st image
+	std::ofstream file_key1(argv[6]);
+	if (file_key1.is_open())
+	{
+		// Follow the same convention of David Lowe: 
+		// the first line contains the number of keypoints and the length of the desciptors (128)
+		file_key1 << num_keys1 << "  " << VecLength << "  " << std::endl;
+		for (int tt = 0; tt < (int) keys1.size(); tt++)
+		{
+			for (int rr = 0; rr < (int) keys1[tt].size(); rr++)
+			{
+				keypointslist::iterator ptr = keys1[tt][rr].begin();
+				for(int i=0; i < (int) keys1[tt][rr].size(); i++, ptr++)	
+				{
+					file_key1 << zoom1*ptr->x << "  " << zoom1*ptr->y << "  " << zoom1*ptr->scale << "  " << ptr->angle;
+					
+					for (int ii = 0; ii < (int) VecLength; ii++)
+					{
+						file_key1 << "  " << ptr->vec[ii];
+					}
+					
+					file_key1 << std::endl;
+				}
+			}	
+		}
+	}
+	else 
+	{
+		std::cerr << "Unable to open the file keys1."; 
+	}
+
+	file_key1.close();
+	
+	////// keypoints in the 2nd image
+	std::ofstream file_key2(argv[7]);
+	if (file_key2.is_open())
+	{
+		// Follow the same convention of David Lowe: 
+		// the first line contains the number of keypoints and the length of the desciptors (128)
+		file_key2 << num_keys2 << "  " << VecLength << "  " << std::endl;
+		for (int tt = 0; tt < (int) keys2.size(); tt++)
+		{
+			for (int rr = 0; rr < (int) keys2[tt].size(); rr++)
+			{
+				keypointslist::iterator ptr = keys2[tt][rr].begin();
+				for(int i=0; i < (int) keys2[tt][rr].size(); i++, ptr++)	
+				{
+					file_key2 << zoom2*ptr->x << "  " << zoom2*ptr->y << "  " << zoom2*ptr->scale << "  " << ptr->angle;
+					
+					for (int ii = 0; ii < (int) VecLength; ii++)
+					{
+						file_key2 << "  " << ptr->vec[ii];
+					}					
+					file_key2 << std::endl;
+				}
+			}	
+		}
+	}
+	else 
+	{
+		std::cerr << "Unable to open the file keys2."; 
+	}
+	file_key2.close();
+	
+    return 0;
+}

ongoing/ASIFT_tests/demo_ASIFT_src/demo_ASIFT.m

@@ -0,0 +1,96 @@
+%*-------------------demo_ASIFT MATLAB interface   -------------------------*/
+% 
+% *************************************************************************
+% NOTE: The ASIFT SOFTWARE ./demo_ASIFT IS STANDALONE AND CAN BE EXECUTED
+%       WITHOUT MATLAB. 
+% *************************************************************************
+% 
+% Detect corresponding points in two images with the ASIFT method. 
+% Copyright, Jean-Michel Morel, Guoshen Yu, 2008. 
+% Please report bugs and/or send comments to Guoshen Yu yu@cmap.polytechnique.fr
+%
+% Reference: J.M. Morel and G.Yu, ASIFT: A New Framework for Fully Affine Invariant Image 
+%           Comparison, SIAM Journal on Imaging Sciences, vol. 2, issue 2, pp. 438-469, 2009. 
+% Reference: ASIFT online demo (You can try ASIFT with your own images online.) 
+% http://www.ipol.im/pub/algo/my_affine_sift/
+%
+% 2010.08.17
+% ---------------------------------------------------------------------------*/
+
+function demo_ASIFT(file_img1, file_img2, imgOutVert, imgOutHori, matchings, keys1, keys2, flag_resize)
+
+if (nargin == 8) 
+    if (isnumeric(flag_resize) && (flag_resize == 0))
+        flag_resize = 0;
+    else
+        flag_resize = 1;
+    end
+elseif (nargin == 7)
+    flag_resize = 1;
+else
+    disp('*******************************************************************************');
+    disp('***************************  ASIFT image matching  ****************************');
+    disp('*******************************************************************************');
+    disp('Usage: ./demo_ASIFT imgIn1 imgIn2 imgOutVert.png imgOutHori.png');
+    disp('          matchings.txt keys1.txt keys2.txt [Resize option: 0/1]'); 
+    disp('- imgIn1, imgIn2: input images (in most standard formats).');
+    disp('- imgOutVert.png, imgOutHori.png: output images (vertical/horizontal concatenated,');
+    disp('  in PNG format.) The detected matchings are connected by write lines.');
+    disp('- matchings.txt: coordinates of matched points (col1, row1, col2, row2).'); 
+    disp('- keys1.txt keys2.txt: ASIFT keypoints of the two images.')
+    disp('- [optional 0/1]. 1: input images resize to 800x600 (default). 0: no resize.'); 
+    disp('*******************************************************************************'); 
+    disp('*********************  Jean-Michel Morel, Guoshen Yu, 2010 ********************'); 
+    disp('*******************************************************************************'); 
+    assert(false);
+end
+
+imgIn1 = imread(file_img1);
+imgIn2 = imread(file_img2);
+
+% convert the image to png format 
+file_img1_png = 'tmpASIFTinput1.png';
+file_img2_png = 'tmpASIFTinput2.png';
+imwrite(imgIn1, file_img1_png, 'png');
+imwrite(imgIn2, file_img2_png, 'png');
+
+% ASIFT command
+command_ASIFT = './demo_ASIFT'; 
+command_ASIFT = [command_ASIFT ' ' file_img1_png ' ' file_img2_png ' ' ...
+  imgOutVert ' ' imgOutHori ' ' matchings ' ' keys1 ' ' keys2];
+if (flag_resize == 0)
+    command_ASIFT = [command_ASIFT ' 0'];
+end
+	
+% get the number of processors 
+% Mac
+if (ismac == 1)
+    [s, w] = unix('sysctl -n hw.ncpu');
+    num_CPUs = str2num(w);
+    % set the maximum OpenMP threads to the number of processors 
+    set_threads = sprintf('export OMP_NUM_THREADS=%d;', num_CPUs);
+     
+    command = [set_threads ' ' command_ASIFT];
+
+% Unix    
+elseif (isunix == 1)
+    [s, w] = unix('grep processor /proc/cpuinfo | wc -l');
+     num_CPUs = str2num(w);
+    % set the maximum OpenMP threads to the number of processors 
+    set_threads = sprintf('export OMP_NUM_THREADS=%d;', num_CPUs);
+      
+    command = [set_threads ' ' command_ASIFT];
+% Windows    
+elseif (ispc == 1)
+    [s, w] = dos('set NUMBER_OF_PROCESSORS');
+    num_CPUs = sscanf(w, '%*21c%d', [1, Inf]);
+    % set the maximum OpenMP threads to the number of processors 
+    setenv('OMP_NUM_THREADS', num2str(num_CPUs));
+        
+    command = command_ASIFT;
+else
+    error('Unrecognized operating system. The operating system should be Windows, Linux/Unix, or Mac OS.');
+end
+
+
+status = system(command);

ongoing/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.h

@@ -0,0 +1,298 @@
+// Authors: Unknown. Please, if you are the author of this file, or if you 
+// know who are the authors of this file, let us know, so we can give the 
+// adequate credits and/or get the adequate authorizations.
+
+// WARNING: 
+// This file implements an algorithm possibly linked to the patent
+//
+// David Lowe  "Method and apparatus for identifying scale invariant 
+// features in an image and use of same for locating an object in an 
+// image",  U.S. Patent 6,711,293.
+//
+// This file is made available for the exclusive aim of serving as
+// scientific tool to verify of the soundness and
+// completeness of the algorithm description. Compilation,
+// execution and redistribution of this file may violate exclusive
+// patents rights in certain countries.
+// The situation being different for every country and changing
+// over time, it is your responsibility to determine which patent
+// rights restrictions apply to you before you compile, use,
+// modify, or redistribute this file. A patent lawyer is qualified
+// to make this determination.
+// If and only if they don't conflict with any patent terms, you
+// can benefit from the following license terms attached to this
+// file.
+//
+// This program is provided for scientific and educational only:
+// you can use and/or modify it for these purposes, but you are
+// not allowed to redistribute this work or derivative works in
+// source or executable form. A license must be obtained from the
+// patent right holders for any other use.
+
+
+#ifndef _CLIBSIFT_H_
+#define _CLIBSIFT_H_
+
+
+
+///////////// Description
+/// For each octave:
+///    	- Divide in par.Scales scales
+/// 	- Convolve and compute differences of convolved scales
+///	- Look for a 3x3 multiscale extrema and contraste enough and with no predominant direction (no 1d edge)
+
+/// For each extrema
+///	- Compute orientation histogram in neighborhood.
+///	- Generate a keypoint for each mode with this orientation
+
+
+/// For each keypoint
+///	 - Create vector 
+
+
+
+///////////// Possible differences with MW
+/// Gaussian convolution
+
+
+#include <stdlib.h>
+#include <assert.h>
+
+#include "numerics1.h"
+#include "library.h"
+#include "filter.h"
+#include "domain.h"
+#include "splines.h"
+#include "flimage.h"
+
+
+#include <vector>
+
+// BASIC STRUCTURES:
+
+// Keypoints:
+#define OriSize  8
+#define IndexSize  4
+#define VecLength  IndexSize * IndexSize * OriSize
+
+
+/* Keypoint structure:
+	position:	x,y
+	scale:		s
+	orientation:	angle
+	descriptor:	array of gradient orientation histograms in a neighbors */
+struct keypoint {
+	float	x,y,
+		scale,
+		angle;
+	float	vec[VecLength];
+};
+
+
+/* Keypoint structure:
+ position:	x,y
+ scale:		s
+ orientation:	angle
+ descriptor:	array of gradient orientation histograms in a neighbors */
+struct keypoint_char {
+	float	x,y,
+	scale,
+	angle;
+	unsigned char	vec[VecLength];
+};
+
+/* Keypoint structure:
+ position:	x,y
+ scale:		s
+ orientation:	angle
+ descriptor:	array of gradient orientation histograms in a neighbors */
+struct keypoint_short {
+	float	x,y,
+	scale,
+	angle;
+	unsigned short	vec[VecLength];
+};
+
+/* Keypoint structure:
+ position:	x,y
+ scale:		s
+ orientation:	angle
+ descriptor:	array of gradient orientation histograms in a neighbors */
+struct keypoint_int {
+	float	x,y,
+	scale,
+	angle;
+	unsigned int	vec[VecLength];
+};
+
+/* List of keypoints: just use the standard class vector: */
+typedef std::vector<keypoint> keypointslist;
+
+/* List of keypoints: just use the standard class vector: */
+typedef std::vector<keypoint_char> keypointslist_char;
+typedef std::vector<keypoint_short> keypointslist_short;
+typedef std::vector<keypoint_int> keypointslist_int;
+
+
+
+/* Matching: just use the standard class pair: */
+typedef std::pair<keypoint,keypoint> matching;
+
+
+/* List of matchings: just use the standard class vector: */
+typedef std::vector<matching> matchingslist;
+
+
+struct siftPar
+{
+
+int OctaveMax;
+
+int DoubleImSize;
+
+int order;
+
+
+/* InitSigma gives the amount of smoothing applied to the image at the
+   first level of each octave.  In effect, this determines the sampling
+   needed in the image domain relative to amount of smoothing.  Good
+   values determined experimentally are in the range 1.2 to 1.8.
+*/
+float  InitSigma /*= 1.6*/;
+ 
+
+/* Peaks in the DOG function must be at least BorderDist samples away
+   from the image border, at whatever sampling is used for that scale.
+   Keypoints close to the border (BorderDist < about 15) will have part
+   of the descriptor landing outside the image, which is approximated by
+   having the closest image pixel replicated.  However, to perform as much
+   matching as possible close to the edge, use BorderDist of 4.
+*/
+int BorderDist /*= 5*/;
+
+
+/* Scales gives the number of discrete smoothing levels within each octave.
+   For example, Scales = 2 implies dividing octave into 2 intervals, so
+   smoothing for each scale sample is sqrt(2) more than previous level.
+   Value of 2 works well, but higher values find somewhat more keypoints.
+*/
+
+int Scales /*= 3*/;
+
+
+/// Decreasing PeakThresh allows more non contrasted keypoints
+/* Magnitude of difference-of-Gaussian value at a keypoint must be above
+   this threshold.  This avoids considering points with very low contrast
+   that are dominated by noise.  It is divided by Scales because more
+   closely spaced scale samples produce smaller DOG values.  A value of
+   0.08 considers only the most stable keypoints, but applications may
+   wish to use lower values such as 0.02 to find keypoints from low-contast
+   regions.
+*/
+
+//#define  PeakThreshInit  255*0.04 
+//#define  PeakThresh      PeakThreshInit / Scales
+float PeakThresh  /*255.0 * 0.04 / 3.0*/;
+
+/// Decreasing EdgeThresh allows more edge points
+/* This threshold eliminates responses at edges.  A value of 0.08 means
+   that the ratio of the largest to smallest eigenvalues (principle
+   curvatures) is below 10.  A value of 0.14 means ratio is less than 5.
+   A value of 0.0 does not eliminate any responses.
+   Threshold at first octave is different.
+*/
+float  EdgeThresh  /*0.06*/;
+float  EdgeThresh1 /*0.08*/;
+
+
+/* OriBins gives the number of bins in the histogram (36 gives 10
+   degree spacing of bins).
+*/
+int OriBins  /*36*/;
+
+
+/* Size of Gaussian used to select orientations as multiple of scale
+     of smaller Gaussian in DOG function used to find keypoint.
+     Best values: 1.0 for UseHistogramOri = FALSE; 1.5 for TRUE.
+*/
+float OriSigma  /*1.5*/;
+
+
+/// Look for local (3-neighborhood) maximum with valuer larger or equal than OriHistThresh * maxval
+///  Setting one returns a single peak
+/* All local peaks in the orientation histogram are used to generate
+   keypoints, as long as the local peak is within OriHistThresh of
+   the maximum peak.  A value of 1.0 only selects a single orientation
+   at each location.
+*/
+float OriHistThresh  /*0.8*/;
+
+
+/// Feature vector is normalized to has euclidean norm 1.
+/// This threshold avoid the excessive concentration of information on single peaks
+/* Index values are thresholded at this value so that regions with
+   high gradients do not need to match precisely in magnitude.
+   Best value should be determined experimentally.  Value of 1.0
+   has no effect.  Value of 0.2 is significantly better.
+*/
+float  MaxIndexVal  /*0.2*/;
+
+
+/* This constant specifies how large a region is covered by each index
+   vector bin.  It gives the spacing of index samples in terms of
+   pixels at this scale (which is then multiplied by the scale of a
+   keypoint).  It should be set experimentally to as small a value as
+   possible to keep features local (good values are in range 3 to 5).
+*/
+int  MagFactor   /*3*/;
+
+
+/* Width of Gaussian weighting window for index vector values.  It is
+   given relative to half-width of index, so value of 1.0 means that
+   weight has fallen to about half near corners of index patch.  A
+   value of 1.0 works slightly better than large values (which are
+   equivalent to not using weighting).  Value of 0.5 is considerably
+   worse.
+*/
+float   IndexSigma  /*1.0*/;
+
+/* If this is TRUE, then treat gradients with opposite signs as being
+   the same.  In theory, this could create more illumination invariance,
+   but generally harms performance in practice.
+*/
+int  IgnoreGradSign  /*0*/;
+
+
+
+float MatchRatio  /*0.6*/;
+
+/*
+   In order to constrain the research zone for matches.
+   Useful for example when looking only at epipolar lines
+*/
+
+float MatchXradius /*= 1000000.0f*/;
+float MatchYradius /*= 1000000.0f*/;
+
+int noncorrectlylocalized;
+
+};
+
+//////////////////////////////////////////////////////////
+/// SIFT 
+//////////////////////////////////////////////////////////
+
+void default_sift_parameters(siftPar &par);
+
+void compute_sift_keypoints(float *input,  keypointslist& keypoints,int width, int height, siftPar &par);
+
+
+
+
+// MATCHING DETECTION FUNCTION:
+void compute_sift_matches( keypointslist& keys1, keypointslist& keys2, matchingslist& matchings, siftPar &par);
+
+#endif // _LIBSIFT_H_
+
+
+

ongoing/ASIFT_tests/demo_ASIFT_src/domain.cpp

@@ -0,0 +1,145 @@
+// Authors: Unknown. Please, if you are the author of this file, or if you 
+// know who are the authors of this file, let us know, so we can give the 
+// adequate credits and/or get the adequate authorizations.
+
+#include "domain.h"
+
+
+#define DEBUG 0
+
+
+
+
+void apply_zoom(float *input, float *out, float zoom, int order, int width, int height)
+{
+
+	int nwidth = (int)( zoom * (float) width);
+	int nheight = (int)( zoom * (float) height);
+
+	float *coeffs;
+	float *ref;
+
+	float  cx[12],cy[12],ak[13];
+
+	// Guoshen Yu, 2010.09.22, Windows versions
+	vector<float> input_vec, coeffs_vec, ref_vec;
+	input_vec = vector<float>(width*height);
+	coeffs_vec = vector<float>(width*height);
+	ref_vec = vector<float>(width*height);
+	for (int i = 0; i < width*height; i++)
+		input_vec[i] = input[i];
+
+	if (order!=0 && order!=1 && order!=-3 && 
+      order!=3 && order!=5 && order!=7 && order!=9 && order!=11)
+    	{	
+		printf("unrecognized interpolation order.\n");
+		exit(-1);
+	}
+
+        if (order>=3) {
+
+			coeffs = new float[width*height];
+
+			// Guoshen Yu, 2010.09.21, Windows version
+    		//finvspline(input,order,coeffs,width,height);
+			finvspline(input_vec,order,coeffs_vec,width,height);
+			for (int i = 0; i < width*height; i++)
+				coeffs[i] = coeffs_vec[i];
+
+    		ref = coeffs;
+    		if (order>3) init_splinen(ak,order);
+
+	} else 
+	{
+    		coeffs = NULL;
+    		ref = input;
+  	}
+
+	int xi,yi;
+	float xp,yp;
+	float res;
+	int n1,n2;
+	float bg = 0.0f;
+	float p=-0.5;
+	for(int i=0; i < nwidth; i++)
+		for(int j=0; j < nheight; j++)
+		{
+
+			xp =  (float) i / zoom;
+			yp =  (float) j / zoom;
+
+			if (order == 0) { 
+	
+				xi = (int)floor((double)xp); 
+				yi = (int)floor((double)yp);
+		
+				if (xi<0 || xi>=width || yi<0 || yi>=height)
+		 			 res = bg; 
+				else res = input[yi*width+xi];
+	
+     			 } else { 
+	
+		
+				if (xp<0. || xp>=(float)width || yp<0. || yp>=(float)height) res=bg; 
+				else {
+					xp -= 0.5; yp -= 0.5;
+					int xi = (int)floor((double)xp); 
+					int yi = (int)floor((double)yp);
+					float ux = xp-(float)xi;
+	  				float uy = yp-(float)yi;
+
+					switch (order) 
+	   				{
+					    	case 1: /* first order interpolation (bilinear) */
+	      						n2 = 1;
+							cx[0]=ux;	cx[1]=1.-ux;
+							cy[0]=uy; cy[1]=1.-uy;
+							break;
+						
+						case -3: /* third order interpolation (bicubic Keys' function) */
+							n2 = 2;
+							keys(cx,ux,p);
+							keys(cy,uy,p);
+							break;
+
+						case 3: /* spline of order 3 */
+							n2 = 2;
+							spline3(cx,ux);
+							spline3(cy,uy);
+							break;
+
+						default: /* spline of order >3 */
+							n2 = (1+order)/2;
+							splinen(cx,ux,ak,order);
+							splinen(cy,uy,ak,order);
+							break;
+					}
+	  
+	  				res = 0.; n1 = 1-n2;
+	 				if (xi+n1>=0 && xi+n2<width && yi+n1>=0 && yi+n2<height) {
+	    				
+						int adr = yi*width+xi; 
+	    					for (int dy=n1;dy<=n2;dy++) 
+	    					  for (int dx=n1;dx<=n2;dx++) 
+							res += cy[n2-dy]*cx[n2-dx]*ref[adr+width*dy+dx];
+	  				} else 
+	
+						// Guoshen Yu, 2010.09.21, Windows
+						for (int i = 0; i < width*height; i++)
+							ref_vec[i] = ref[i];
+
+					   	for (int dy=n1;dy<=n2;dy++)
+						      for (int dx=n1;dx<=n2;dx++) 
+							// Guoshen Yu, 2010.09.21, Windows
+							// res += cy[n2-dy]*cx[n2-dx]*v(ref,xi+dx,yi+dy,bg,width,height);
+							res += cy[n2-dy]*cx[n2-dx]*v(ref_vec,xi+dx,yi+dy,bg,width,height);
+      			}
+
+		}	
+
+		out[j*nwidth+i] = res;
+    	
+	}
+
+}
+

ongoing/ASIFT_tests/demo_ASIFT_src/domain.h

@@ -0,0 +1,40 @@
+// Authors: Unknown. Please, if you are the author of this file, or if you 
+// know who are the authors of this file, let us know, so we can give the 
+// adequate credits and/or get the adequate authorizations.
+
+
+#ifndef _DOMAIN_H_
+#define _DOMAIN_H_
+
+
+#include "numerics1.h"
+#include "library.h"
+#include "splines.h"
+
+
+/// Compute homography from n points using svd
+void compute_planar_homography_n_points(float *x0, float *y0, float *x1, float *y1, int n, float **H);
+
+
+/// Compute homography using svd + Ransac
+void compute_ransac_planar_homography_n_points(float *x0, float *y0, float *x1, float *y1, int n, int niter, float tolerance, float **H);
+
+/// Compute homography by using Lionel Code
+void compute_moisan_planar_homography_n_points(float *x0, float *y0, float *x1, float *y1, int n, int niter, float &epsilon, float **H, int &counter, int recursivity);
+
+
+/// Apply planar homography to image
+void compute_planar_homography_bounding_box(int width, int height, float **H, float *x0, float *y0,  int *nwidth, int *nheight);
+
+
+void apply_planar_homography(float *input, int width, int height, float **H, float bg, int order, float *out, float x0, float y0, int nwidth, int nheight);
+
+
+/// Apply zoom of factor z
+void apply_zoom(float *input, float *out, float zoom, int order, int width, int height);
+
+/// Apply general transformation
+void apply_general_transformation(float *input, float *transformx, float* transformy, float *out, float bg, int order, int width, int height, int nwidth,int nheight);
+
+#endif
+

ongoing/ASIFT_tests/demo_ASIFT_src/filter.cpp

@@ -0,0 +1,460 @@
+// Authors: Unknown. Please, if you are the author of this file, or if you 
+// know who are the authors of this file, let us know, so we can give the 
+// adequate credits and/or get the adequate authorizations.
+
+#include "filter.h"
+
+
+/////////////////////////////////////////////////////////////// Build Gaussian filters
+float * directional_gauss_filter(float xsigma, float ysigma, float angle, int *kwidth, int *kheight)
+{
+	
+	
+	int ksize = (int)(2.0 * 2.0 * MAX(xsigma, ysigma) + 1.0);
+	float *kernel = new float[ksize*ksize];
+	
+	float xsigma2 = xsigma*xsigma;
+	float ysigma2 = ysigma*ysigma;
+	
+	int l2 = ksize/2;
+	for(int y = -l2; y <= l2; y++)
+		for(int x = -l2; x <= l2; x++)
+		{
+			
+			float a = (float) angle * PI / 180.0f;
+			float sina = sin(a);
+			float cosa = cos(a);
+			
+			float ax = (float) x * cosa + (float) y * sina;
+			float ay = -(float) x * sina + (float) y * cosa;
+			kernel[(y+l2) * ksize + x + l2] =  exp(-(ax*ax)/(2.0f*xsigma2)  - (ay*ay)/(2.0f*ysigma2) );  
+			
+		}
+	
+	
+	float sum=0.0;
+	for(int i=0; i < ksize*ksize; i++) sum += kernel[i];
+	for(int i=0; i < ksize*ksize; i++) kernel[i] /= sum;
+	
+	*kwidth = ksize;
+	*kheight = ksize;
+	
+	return kernel;
+}
+
+
+
+
+
+
+/* Convolution with a kernel */
+/* No padding applied to the image */
+void convol(float *u,float *v,int width,int height,float *kernel,int kwidth,int kheight)
+{
+  
+//  float S;
+//  int K2,L2,m,n,kmin,kmax,lmin,lmax,l,k;
+ 
+  int K2 = kwidth / 2;
+  int L2 = kheight / 2;
+
+  for(int y=0 ; y < height; y++) 
+    for (int x=0 ; x < width; x++) {
+
+	float S = 0.0;
+//      kmax = MIN(kwidth-1,n+K2);
+//      kmin = MAX(0,1+n+K2-width);
+//      lmax = MIN(kheight-1,m+L2);
+//      lmin = MAX(0,1+m+L2-height);
+	
+	for (int l = -L2; l <= L2; l++) 
+		for (int k = -K2 ; k<= K2; k++)
+		{ 
+			int px=x+k;
+			int py=y+l;
+
+			if (px>=0 && px < width && py>=0 && py<height)
+			  S += u[width*py + px] * kernel[kwidth*(l+L2) + k+K2];
+		}
+
+      v[y*width+x] = (float) S;
+
+    }
+}
+
+
+
+void median(float *u,float *v, float radius, int niter, int width,int height)
+{
+    
+
+	int iradius = (int)(radius+1.0);
+	int rsize=(2*iradius+1)*(2*iradius+1);
+  
+	float * vector = new float[rsize];
+	float * index = new float[rsize];
+  
+	for(int n=0; n< niter;n++){
+		
+		for(int x=0;x<width;x++)
+			for(int y=0;y<height;y++){
+      
+				int count=0;
+				for(int i=-iradius;i<=iradius;i++)
+					for(int j=-iradius;j<=iradius;j++)
+						if ((float) (i*i + j*j) <= iradius*iradius){
+		
+							int x0=x+i;
+							int y0=y+j;
+
+							if (x0>=0 && y0>=0 && x0 < width && y0 < height) { 
+								vector[count] = u[y0*width+x0];
+								index[count] = count;
+								count++; 
+							}
+				}
+
+				quick_sort(vector,index,count);
+				v[y*width+x] = vector[count/2];
+
+		}
+
+		copy(v,u,width*height);
+	}
+
+	delete[] vector;
+	delete[] index;
+  
+}
+
+
+
+void remove_outliers(float *igray,float *ogray,int width, int height)
+{
+  
+
+	int bloc=1;
+	int bsize = (2*bloc+1)*(2*bloc+1)-1;
+	for(int x=bloc;x<width-bloc;x++)
+		for(int y=bloc;y<height-bloc;y++) {
+	  
+			int l = y*width+x;
+
+			int countmax=0;
+			int countmin=0;
+			float valueg0 = igray[l];
+    
+	//		float distmin = MAXFLOAT;
+			float distmin = FLT_MAX; // Guoshen Yu
+			float green = igray[l];
+
+			for(int i=-bloc;i<=bloc;i++)
+				for(int j=-bloc;j<=bloc;j++)
+					if ((i!=0 || j!=0)){
+		
+					int l0 = (y+j)*width+x+i;
+						
+					int valueg = (int) igray[l0];
+					
+					if (valueg0>valueg) countmax++;
+					if (valueg0<valueg) countmin++;
+						
+						
+					float dist = fabsf(valueg - valueg0);
+			
+					if (dist < distmin) {distmin=dist;green=valueg;}
+							
+			}
+	  
+	  
+			if (countmin == bsize || countmax == bsize ) 	ogray[l]=green;
+			else ogray[l] = igray[l];
+	
+	  
+		}
+
+ 
+}
+
+
+
+/* Convolution with a  separable kernel */
+/* boundary condition: 0=zero, 1=symmetry */
+void separable_convolution(float *u, float *v, int width, int height,float * xkernel, int xsize,float *ykernel,int ysize,int boundary)
+{
+
+  int width2 = 2*width;
+  int height2 = 2*height;
+
+  float *tmp = (float *) malloc(width*height*sizeof(float));
+ 
+
+  /* convolution along x axis */
+  float sum = 0.0;
+  int org = xsize / 2;
+  for (int y=height;y--;) 
+    for (int x=width;x--;) {
+	
+      sum = 0.0;	
+      for (int i=xsize;i--;) {
+	int s = x-i+org;
+	switch(boundary) {
+	  
+	case 0: 
+	  if (s>=0 && s<width) sum += xkernel[i]*u[y*width+s];
+	  break;
+      
+	case 1: 
+
+	  while (s<0) s+=width2;
+	  while (s>=width2) s-=width2;
+	  if (s>=width) s = width2-1-s;
+	  sum += xkernel[i]*u[y*width+s];
+	  break;
+
+	}
+      }
+      tmp[y*width+x] = sum;
+    }
+  
+  /* convolution along y axis */
+  org = ysize / 2;
+  for (int y=height;y--;) 
+    for (int x=width;x--;) {
+
+      sum=0.0;
+      for (int i=ysize;i--;) {
+	int s = y-i+org;
+	switch(boundary) {
+	case 0: 
+	  if (s>=0 && s<height) sum += ykernel[i]*tmp[s*width+x];
+	  break;
+	case 1: 
+	  while (s<0) s+=height2;
+	  while (s>=height2) s-=height2;
+	  if (s>=height) s = height2-1-s;
+	  sum += ykernel[i]*tmp[s*width+x];
+	  break;
+	}
+      }
+      v[y*width+x] = sum;
+    }
+  
+  free(tmp);
+}
+
+
+void gaussian_convolution(float *u, float *v, int width, int height, float sigma)
+{
+
+	int ksize;	
+	float * kernel;
+
+	ksize = (int)(2.0 * 4.0 * sigma + 1.0);
+	kernel = gauss(1,sigma,&ksize);
+
+	int boundary = 1;
+
+	copy(u,v,width*height);
+	horizontal_convolution(v, v, width, height, kernel, ksize, boundary);
+    vertical_convolution(v, v, width, height,  kernel,  ksize, boundary);
+	delete[] kernel; /*memcheck*/
+}
+
+
+void gaussian_convolution(float *u, float *v, int width, int height, float sigma, int ksize)
+{
+	float * kernel;
+	kernel = gauss(1,sigma,&ksize);
+
+	int boundary = 1;
+
+	copy(u,v,width*height);
+	horizontal_convolution(v, v, width, height, kernel, ksize, boundary);
+    	vertical_convolution(v, v, width, height,  kernel,  ksize, boundary);
+}
+
+
+void fast_separable_convolution(float *u, float *v, int width, int height,float * xkernel, int xsize,float *ykernel,int ysize,int boundary)
+{
+    copy(u,v,width*height);
+
+    horizontal_convolution(v, v, width, height, xkernel, xsize, boundary);
+    vertical_convolution(v, v, width, height,  ykernel,  ysize, boundary);
+
+}
+
+/* Loop unrolling simply sums 5 multiplications 
+   at a time to allow the compiler to schedule
+   operations better and avoid loop overhead.
+*/
+void buffer_convolution(float *buffer,float *kernel,int size,int ksize)
+{
+
+    for (int i = 0; i < size; i++) {
+
+      float sum = 0.0;
+      float *bp = &buffer[i];
+      float *kp = &kernel[0];
+      
+		
+      /* Loop unrolling: do 5 multiplications at a time. */
+//      int k=0;
+		
+	  for(int k = 0; k < ksize; k++) 
+		 sum += *bp++ * *kp++;
+		
+  //    for(;k + 4 < ksize;  bp += 5, kp += 5, k += 5) 
+//	        sum += bp[0] * kp[0] +  bp[1] * kp[1] + bp[2] * kp[2] +
+  //      	       bp[3] * kp[3] +  bp[4] * kp[4];
+
+      /* Do multiplications at a time on remaining items. */
+//      for(; k < ksize; bp++ , kp++, k++)  sum += *bp * (*kp);
+
+      buffer[i] = sum;
+    }
+}
+
+
+
+/* Convolve image with the 1-D kernel vector along image rows.  This
+   is designed to be as efficient as possible.  
+*/
+void horizontal_convolution(float *u, float *v, int width, int height, float *kernel, int ksize, int boundary)
+{
+
+    int halfsize = ksize / 2;
+    int buffersize = width + ksize;
+    float *buffer = new float[buffersize];
+
+    for (int r = 0; r < height; r++) {
+
+	/// symmetry
+	int l = r*width;
+	if (boundary == 1)
+        	for (int i = 0; i < halfsize; i++)
+            		buffer[i] = u[l + halfsize - 1 - i ];
+	else
+		for (int i = 0; i < halfsize; i++)
+            		buffer[i] = 0.0;
+
+
+        for (int i = 0; i < width; i++)
+            buffer[halfsize + i] = u[l + i];
+
+
+	if (boundary == 1)
+	        for (int i = 0; i <  halfsize; i++)
+        	    buffer[i + width + halfsize] = u[l + width - 1 - i];
+	else 
+		for (int i = 0; i <  halfsize; i++)
+        	    buffer[i + width + halfsize] = 0.0;
+
+        buffer_convolution(buffer, kernel, width, ksize);
+        for (int c = 0; c < width; c++)
+          v[r*width+c] = buffer[c];
+    }
+	delete[] buffer; /*memcheck*/
+}
+
+
+
+void vertical_convolution(float *u, float *v, int width, int height, float *kernel,int ksize, int boundary)
+{
+    int halfsize = ksize / 2;
+    int buffersize = height + ksize;
+    float *buffer = new float[buffersize];
+
+    for (int c = 0; c < width; c++) {
+
+	if (boundary == 1)
+		for (int i = 0; i < halfsize; i++)
+				buffer[i] = u[(halfsize-i-1)*width + c];
+	else 
+		for (int i = 0; i < halfsize; i++)
+				buffer[i] = 0.0f;
+
+      for (int i = 0; i < height; i++)
+		buffer[halfsize + i] = u[i*width + c];
+
+	if (boundary == 1)
+		for (int i = 0; i < halfsize; i++)
+				buffer[halfsize + height + i] = u[(height - i - 1)*width+c];
+	else
+		for (int i = 0; i < halfsize; i++)
+			buffer[halfsize + height + i] = 0.0f;
+
+      buffer_convolution(buffer, kernel, height, ksize);
+
+      for (int r = 0; r < height; r++)
+          v[r*width+c] = buffer[r];
+
+	}
+    delete[] buffer; /*memcheck*/
+}
+
+
+
+void heat(float *input, float *out, float step, int niter, float sigma, int width, int height)
+{
+
+	int i,j,n,ksize,size,im,i1,j1,jm;
+	float *kernel = NULL, *laplacian = NULL, *convolved = NULL;
+	
+	
+	size = width*height;
+	
+	if (sigma > 0.0) kernel = gauss(0,sigma,&ksize);		  		
+		
+	laplacian = (float *) malloc(size*sizeof(float));
+	convolved = (float *) malloc(size*sizeof(float));
+	
+	
+	
+	for(n=0; n < niter; n++)
+	{
+	
+		
+		if (sigma > 0.0)
+		{
+			
+			separable_convolution(input,convolved,width,height, kernel, ksize,kernel,ksize,1);
+			
+			for(i=0; i< size; i++) laplacian[i] = convolved[i] - input[i];
+		
+		} else
+		{
+		
+		
+			for (i=0; i < width;i++)
+			  for (j=0; j< height ;j++) 
+				{
+				
+				  if (j==0) jm=1; else jm=j-1;
+				  if (j==height-1) j1=height-2; else j1=j+1;
+				
+				  if (i==0) im=1; else im=i-1;
+				  if (i==width-1) i1=width-2; else i1=i+1;
+				
+				  laplacian[j*width + i] =  - 4.0  * input[width*j+i] + input[width*j+im]+ input[width*j+i1]+input[width*jm + i] + input[width*j1 + i];
+			     }
+		}
+		
+		
+		
+		for(i=0; i < size; i++) out[i] = input[i] + step * laplacian[i];
+		
+		copy(out,input,size);
+		
+	}
+	
+	
+	free(laplacian);
+	free(convolved);
+	if (kernel) free(kernel);
+	
+}
+
+
+		
+

ongoing/ASIFT_tests/demo_ASIFT_src/filter.h

@@ -0,0 +1,38 @@
+// Authors: Unknown. Please, if you are the author of this file, or if you 
+// know who are the authors of this file, let us know, so we can give the 
+// adequate credits and/or get the adequate authorizations.
+
+
+#ifndef _FILTER_H_
+#define _FILTER_H_
+
+
+#include "library.h"
+
+
+float * directional_gauss_filter(float xsigma, float ysigma, float angle, int *kwidth, int *kheight);
+
+	
+void median(float *u,float *v, float radius, int niter, int width,int height);
+void remove_outliers(float *igray,float *ogray,int width, int height);
+
+/// Convolution with a  separable kernel,  boundary condition: 0=zero, 1=symmetry
+void separable_convolution(float *u, float *v, int width, int height, float *xkernel, int xsize, float *ykernel, int ysize,int boundary);     
+
+void buffer_convolution(float *buffer,float *kernel,int size,int ksize);
+void horizontal_convolution(float *u, float *v, int width, int height, float *kernel, int ksize, int boundary);
+void vertical_convolution(float *u, float *v, int width, int height, float *kernel,int ksize, int boundary);
+
+void fast_separable_convolution(float *u, float *v, int width, int height,float * xkernel, int xsize,float *ykernel,int ysize,int boundary);
+
+/// Can be called with u=v
+void gaussian_convolution(float *u, float *v, int width, int height, float sigma);
+void gaussian_convolution(float *u, float *v, int width, int height, float sigma, int ksize);
+
+void convol(float *u, float *v, int width, int height, float *kernel, int kwidth, int kheight);    /// Convolution with a kernel,  No padding applied to the image
+
+void heat(float *u, float *v, float step, int niter, float sigma, int width, int height);
+
+
+#endif // _FILTER_H_
+

ongoing/ASIFT_tests/demo_ASIFT_src/flimage.cpp

@@ -0,0 +1,86 @@
+// Authors: Unknown. Please, if you are the author of this file, or if you 
+// know who are the authors of this file, let us know, so we can give the 
+// adequate credits and/or get the adequate authorizations.
+
+#include "flimage.h"
+
+
+
+//////////////////////////////////////////////// Class flimage
+//// Construction
+flimage::flimage() : width(0), height(0), p(0) 
+{
+}	 
+
+flimage::flimage(int w, int h) : width(w), height(h), p(new float[w*h]) 
+{
+	for (int j=width*height-1; j>=0 ; j--) p[j] = 0.0;
+}	
+
+
+flimage::flimage(int w, int h, float v) : width(w), height(h), p(new float[w*h]) 
+{
+	for (int j=width*height-1; j>=0 ; j--) p[j] = v;
+}
+
+
+flimage::flimage(int w, int h, float* v) : width(w), height(h), p(new float[w*h]) 
+{
+	for (int j=width*height-1; j>=0 ; j--) p[j] = v[j];
+}
+
+
+void flimage::create(int w, int h)
+{ 
+ 	erase();
+	width = w; height = h; 
+	p = new float[w*h];	
+	for (int j=width*height-1; j>=0 ; j--) p[j] = 0.0;
+}
+
+void flimage::create(int w, int h, float* v)
+{
+ 	erase();
+	width = w; height = h;  p = new float[w*h]; 
+	for (int j=width*height-1; j>=0 ; j--) p[j] = v[j];
+}
+
+
+flimage::flimage(const flimage& im) : width(im.width), height(im.height), p(new float[im.width*im.height]) 
+{
+	for (int j=width*height-1; j>=0 ; j--) p[j] = im.p[j];
+}
+
+flimage&  flimage::operator= (const flimage& im)
+{	
+	if (&im == this) {
+		return *this;
+	}
+	
+	if (width != im.width || height != im.height)
+	{  			
+	  	erase();
+		width = im.width; height=im.height; p = new float[width*height];
+	}
+	
+	for (int j=width*height-1; j>=0 ; j--) p[j] = im.p[j];
+	return *this;	
+}
+
+
+//// Destruction
+void flimage::erase() 
+{
+	width = height = 0; 
+	if (p) delete[] p; 
+	p=0;
+} 
+
+flimage::~flimage()
+{
+	erase();
+}
+
+
+
+

ongoing/ASIFT_tests/demo_ASIFT_src/flimage.h

@@ -0,0 +1,53 @@
+// Authors: Unknown. Please, if you are the author of this file, or if you 
+// know who are the authors of this file, let us know, so we can give the 
+// adequate credits and/or get the adequate authorizations.
+
+
+#ifndef _FLIMAGE_H_
+#define _FLIMAGE_H_
+
+#include <iostream>
+#include <string>
+
+class flimage {
+	
+private:
+	
+	int	width, height;	// image size
+	float*	p;		// array of color levels: level of pixel (x,y) is p[y*width+x]
+	
+public:
+	
+	
+	//// Construction
+	flimage();
+	flimage(int w, int h);
+	flimage(int w, int h, float v);
+	flimage(int w, int h, float* v);
+	flimage(const flimage& im);
+	flimage& operator= (const flimage& im);
+	
+	
+	void create(int w, int h);
+	void create(int w, int h, float *v);
+	
+	//// Destruction
+	void erase();
+	~flimage();
+	
+	//// Get Basic Data	
+	int nwidth() const {return width;} 	// image size
+	int nheight() const {return height;} 
+	
+	/// Access values
+	float* getPlane() {return p;}	// return the adress of the array of values 
+	
+	float operator()(int x, int y) const {return p[ y*width + x ];} 	// acces to the (x,y) value
+	float& operator()(int x, int y) {return p[ y*width + x ];}	// by value (for const images) and by reference
+	
+	
+};
+
+
+#endif
+

ongoing/ASIFT_tests/demo_ASIFT_src/fproj.cpp

@@ -0,0 +1,186 @@
+// Copyright (c) 2007 Lionel Moisan <Lionel.Moisan@parisdescartes.fr>
+
+#include <stdio.h>
+#include <math.h>
+#include "splines.h"
+#include "fproj.h"
+
+
+
+
+/*------------------------ MAIN MODULE ---------------------------------*/
+
+//void fproj(float *in, float *out, int nx, int ny, int *sx, int *sy, float *bg, int *o, float *p, char *i, float X1, float Y1, float X2, float Y2, float X3, float Y3, float *x4, float *y4)
+void fproj(vector<float>& in, vector<float>& out, int nx, int ny, int *sx, int *sy, float *bg, int *o, float *p, char *i, float X1, float Y1, float X2, float Y2, float X3, float Y3, float *x4, float *y4)
+/*     Fimage in,out;
+     int    *sx,*sy,*o;
+     char   *i;
+     float  *bg,*p,X1,Y1,X2,Y2,X3,Y3,*x4,*y4; */
+{
+/*  int    n1,n2,nx,ny,x,y,xi,yi,adr,dx,dy;*/
+  int    n1,n2,x,y,xi,yi,adr,dx,dy;
+  float  res,xx,yy,xp,yp,ux,uy,a,b,d,fx,fy,x12,x13,y12,y13;
+  float  cx[12],cy[12],ak[13];
+ /* Fimage ref,coeffs; */
+//  float *ref, *coeffs;
+	vector<float> ref, coeffs;
+
+
+  /* CHECK ORDER */
+  if (*o!=0 && *o!=1 && *o!=-3 && 
+      *o!=3 && *o!=5 && *o!=7 && *o!=9 && *o!=11)
+  /*  mwerror(FATAL,1,"unrecognized interpolation order.\n"); */
+  {	
+	  printf("unrecognized interpolation order.\n");
+	  exit(-1);
+  }
+
+  /* ALLOCATE NEW IMAGE */
+/*  nx = in->ncol; ny = in->nrow; */
+/*  out = mw_change_fimage(out,*sy,*sx); 
+  if (!out) mwerror(FATAL,1,"not enough memory\n"); */
+
+
+  if (*o>=3) {
+/*    coeffs = mw_new_fimage();
+    finvspline(in,*o,coeffs); */
+	  
+//	  coeffs = new float[nx*ny];
+	  
+	  coeffs = vector<float>(nx*ny);
+	  
+	finvspline(in,*o,coeffs,nx,ny);
+	  
+    ref = coeffs;
+    if (*o>3) init_splinen(ak,*o);
+  } else {
+//    coeffs = NULL;
+    ref = in;
+  }
+
+
+  /* COMPUTE NEW BASIS */
+  if (i) {
+    x12 = (X2-X1)/(float)nx;
+    y12 = (Y2-Y1)/(float)nx;
+    x13 = (X3-X1)/(float)ny;
+    y13 = (Y3-Y1)/(float)ny;
+  } else {
+    x12 = (X2-X1)/(float)(*sx);
+    y12 = (Y2-Y1)/(float)(*sx);
+    x13 = (X3-X1)/(float)(*sy);
+    y13 = (Y3-Y1)/(float)(*sy);
+  }
+
+
+
+  if (y4) { 
+    xx=((*x4-X1)*(Y3-Y1)-(*y4-Y1)*(X3-X1))/((X2-X1)*(Y3-Y1)-(Y2-Y1)*(X3-X1));
+    yy=((*x4-X1)*(Y2-Y1)-(*y4-Y1)*(X2-X1))/((X3-X1)*(Y2-Y1)-(Y3-Y1)*(X2-X1));
+    a = (yy-1.0)/(1.0-xx-yy);
+    b = (xx-1.0)/(1.0-xx-yy);
+  } 
+  else 
+    {
+      a=b=0.0;
+    }
+
+     
+
+
+  /********** MAIN LOOP **********/
+
+  for (x=0;x<*sx;x++) 
+    for (y=0;y<*sy;y++) {
+      
+      /* COMPUTE LOCATION IN INPUT IMAGE */
+      if (i) {
+	xx = 0.5+(((float)x-X1)*y13-((float)y-Y1)*x13)/(x12*y13-y12*x13);
+	yy = 0.5-(((float)x-X1)*y12-((float)y-Y1)*x12)/(x12*y13-y12*x13);
+	d = 1.0-(a/(a+1.0))*xx/(float)nx-(b/(b+1.0))*yy/(float)ny;
+	xp = xx/((a+1.0)*d);
+	yp = yy/((b+1.0)*d);
+      } else {
+	fx = (float)x + 0.5;
+	fy = (float)y + 0.5;
+	d = a*fx/(float)(*sx)+b*fy/(float)(*sy)+1.0;
+	xx = (a+1.0)*fx/d;
+	yy = (b+1.0)*fy/d;
+	xp = X1 + xx*x12 + yy*x13;
+	yp = Y1 + xx*y12 + yy*y13;
+      }
+
+
+      /* INTERPOLATION */
+      
+      if (*o==0) { 
+	
+	/* zero order interpolation (pixel replication) */
+	xi = (int)floor((double)xp); 
+	yi = (int)floor((double)yp);
+/*	if (xi<0 || xi>=in->ncol || yi<0 || yi>=in->nrow)*/
+	if (xi<0 || xi>=nx || yi<0 || yi>=ny)
+	  res = *bg; 
+	else 
+		/* res = in->gray[yi*in->ncol+xi]; */
+		res = in[yi*nx+xi];
+      } else { 
+	
+	/* higher order interpolations */
+	if (xp<0. || xp>(float)nx || yp<0. || yp>(float)ny) res=*bg; 
+	else {
+	  xp -= 0.5; yp -= 0.5;
+	  xi = (int)floor((double)xp); 
+	  yi = (int)floor((double)yp);
+	  ux = xp-(float)xi;
+	  uy = yp-(float)yi;
+	  switch (*o) 
+	    {
+	    case 1: /* first order interpolation (bilinear) */
+	      n2 = 1;
+	      cx[0]=ux;	cx[1]=1.-ux;
+	      cy[0]=uy; cy[1]=1.-uy;
+	      break;
+	      
+	    case -3: /* third order interpolation (bicubic Keys' function) */
+	      n2 = 2;
+	      keys(cx,ux,*p);
+	      keys(cy,uy,*p);
+	      break;
+
+	    case 3: /* spline of order 3 */
+	      n2 = 2;
+	      spline3(cx,ux);
+	      spline3(cy,uy);
+	      break;
+
+	    default: /* spline of order >3 */
+	      n2 = (1+*o)/2;
+	      splinen(cx,ux,ak,*o);
+	      splinen(cy,uy,ak,*o);
+	      break;
+	    }
+	  
+	  res = 0.; n1 = 1-n2;
+	  /* this test saves computation time */
+	  if (xi+n1>=0 && xi+n2<nx && yi+n1>=0 && yi+n2<ny) {
+	    adr = yi*nx+xi; 
+	    for (dy=n1;dy<=n2;dy++) 
+	      for (dx=n1;dx<=n2;dx++) 
+/*		res += cy[n2-dy]*cx[n2-dx]*ref->gray[adr+nx*dy+dx];*/
+			  res += cy[n2-dy]*cx[n2-dx]*ref[adr+nx*dy+dx];
+	  } else 
+	    for (dy=n1;dy<=n2;dy++)
+	      for (dx=n1;dx<=n2;dx++) 
+/*		res += cy[n2-dy]*cx[n2-dx]*v(ref,xi+dx,yi+dy,*bg); */
+	  res += cy[n2-dy]*cx[n2-dx]*v(ref,xi+dx,yi+dy,*bg,nx,ny); 
+	}
+      }		
+      /* out->gray[y*(*sx)+x] = res; */
+		out[y*(*sx)+x] = res;
+    }
+  //if (coeffs) 
+	  /* mw_delete_fimage(coeffs); */
+	//  delete[] coeffs; 
+}
+

ongoing/ASIFT_tests/demo_ASIFT_src/fproj.h

@@ -0,0 +1,9 @@
+// Copyright (c) 2007 Lionel Moisan <Lionel.Moisan@parisdescartes.fr>
+
+#include "library.h"
+#include <vector>
+using namespace std;
+
+//void fproj(float *in, float *out, int nx, int ny, int *sx, int *sy, float *bg, int *o, float *p, char *i, float X1, float Y1, float X2, float Y2, float X3, float Y3, float *x4, float *y4);
+void fproj(vector<float>& in, vector<float>& out, int nx, int ny, int *sx, int *sy, float *bg, int *o, float *p, char *i, float X1, float Y1, float X2, float Y2, float X3, float Y3, float *x4, float *y4);
+

ongoing/ASIFT_tests/demo_ASIFT_src/frot.cpp

@@ -0,0 +1,116 @@
+// Copyright (c) 2007 Lionel Moisan <Lionel.Moisan@parisdescartes.fr>
+
+
+
+#include "frot.h"
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+
+void bound(int x, int y, float ca, float sa, int *xmin, int *xmax, int *ymin, int *ymax);
+
+
+/* NB : calling this module with out=in is nonsense */
+
+/* void frot(in,out,a,b,k_flag)
+     Fimage in,out;
+     float  *a,*b;
+     char *k_flag; */
+
+void frot(vector<float>& in, vector<float>& out, int nx, int ny, int *nx_out, int *ny_out, float *a, float *b, char *k_flag)
+//void frot(float *in, float *out, int nx, int ny, int *nx_out, int *ny_out, float *a, float *b, char *k_flag)
+{
+    /* int    nx,ny,x,y,x1,y1,adr; */
+	int    x,y,x1,y1,adr; 
+    float  ca,sa,xp,yp,a11,a12,a21,a22,ux,uy,xtrans,ytrans;
+    int    tx1,ty1,tx2,ty2,xmin,xmax,ymin,ymax,sx,sy;
+
+/*    nx = in->ncol;
+    ny = in->nrow; */
+	
+    ca = (float)cos((double)(*a)*M_PI/180.0);
+    sa = (float)sin((double)(*a)*M_PI/180.0);
+	
+
+
+    /********** Compute new image location **********/
+    if (k_flag) {
+      /* crop image and fix center */
+      xmin = ymin = 0;
+      xmax = nx-1;
+      ymax = ny-1;
+      xtrans = 0.5*( (float)(nx-1)*(1.0-ca)+(float)(ny-1)*sa );
+      ytrans = 0.5*( (float)(ny-1)*(1.0-ca)-(float)(nx-1)*sa );
+    } else {
+      /* extend image size to include the whole input image */
+      xmin = xmax = ymin = ymax = 0;
+      bound(nx-1,0,ca,sa,&xmin,&xmax,&ymin,&ymax);
+      bound(0,ny-1,ca,sa,&xmin,&xmax,&ymin,&ymax);
+      bound(nx-1,ny-1,ca,sa,&xmin,&xmax,&ymin,&ymax);
+      xtrans = ytrans = 0.0;
+    }
+    sx = xmax-xmin+1;
+    sy = ymax-ymin+1;
+	
+    /* out = mw_change_fimage(out,sy,sx);
+    if (!out) mwerror(FATAL,1,"not enough memory\n"); */
+	
+	*nx_out = sx;
+	*ny_out = sy;
+	
+//	printf("Hello sx=%d, sy=%d\n", sx, sy);
+
+//		out = new float[sy*sx];
+	out = std::vector<float>(sx*sy);
+	
+    /********** Rotate image **********/
+    for (x=xmin;x<=xmax;x++) 
+      for (y=ymin;y<=ymax;y++) {
+	xp = ca*(float)x-sa*(float)y + xtrans;
+	yp = sa*(float)x+ca*(float)y + ytrans;
+	x1 = (int)floor(xp); 
+	y1 = (int)floor(yp); 
+	ux = xp-(float)x1;
+	uy = yp-(float)y1;
+	adr = y1*nx+x1;
+	tx1 = (x1>=0 && x1<nx);
+	tx2 = (x1+1>=0 && x1+1<nx);
+	ty1 = (y1>=0 && y1<ny);
+	ty2 = (y1+1>=0 && y1+1<ny);
+		  
+/*	a11 = (tx1 && ty1? in->gray[adr]:*b);
+	a12 = (tx1 && ty2? in->gray[adr+nx]:*b);
+	a21 = (tx2 && ty1? in->gray[adr+1]:*b);
+	a22 = (tx2 && ty2? in->gray[adr+nx+1]:*b); */
+		  
+	a11 = (tx1 && ty1? in[adr]:*b);
+    a12 = (tx1 && ty2? in[adr+nx]:*b);
+    a21 = (tx2 && ty1? in[adr+1]:*b);
+    a22 = (tx2 && ty2? in[adr+nx+1]:*b); 
+		  
+		  
+/*	out->gray[(y-ymin)*sx+x-xmin] = 
+	  (1.0-uy)*((1.0-ux)*a11+ux*a21)+uy*((1.0-ux)*a12+ux*a22);*/
+		
+	out[(y-ymin)*sx+x-xmin] = 
+		  (1.0-uy)*((1.0-ux)*a11+ux*a21)+uy*((1.0-ux)*a12+ux*a22);
+		  
+      }
+}
+
+
+void bound(int x, int y, float ca, float sa, int *xmin, int *xmax, int *ymin, int *ymax)
+/* int x,y;
+ float ca,sa;
+ int *xmin,*xmax,*ymin,*ymax;*/
+{   
+    int rx,ry;
+	
+    rx = (int)floor(ca*(float)x+sa*(float)y);
+    ry = (int)floor(-sa*(float)x+ca*(float)y);
+    if (rx<*xmin) *xmin=rx; if (rx>*xmax) *xmax=rx;
+    if (ry<*ymin) *ymin=ry; if (ry>*ymax) *ymax=ry;
+}
+

ongoing/ASIFT_tests/demo_ASIFT_src/frot.h

@@ -0,0 +1,10 @@
+// Copyright (c) 2007 Lionel Moisan <Lionel.Moisan@parisdescartes.fr>
+
+#include "library.h"
+#include <vector>
+using namespace std;
+
+
+/*void frot(float *in, float *out, int nx, int ny, int *nx_out, int *ny_out, float *a, float *b, char *k_flag)*/
+//void frot(float *, float (*)[], int, int, int *, int *, float *, float *, char *);
+void frot(vector<float>&, vector<float>&, int, int, int *, int *, float *, float *, char *);

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/CMakeFiles/CMakeDirectoryInformation.cmake

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+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src")
+
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+
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ongoing/ASIFT_tests/demo_ASIFT_src/io_png/Makefile

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+
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+
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+
+# Disable implicit rules so canonical targets will work.
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+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
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+cmake_force:
+.PHONY : cmake_force
+
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+
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+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target edit_cache
+edit_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running interactive CMake command-line interface..."
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+.PHONY : edit_cache
+
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+edit_cache/fast: edit_cache
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+rebuild_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+	/usr/bin/cmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
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+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
+.PHONY : rebuild_cache/fast
+
+# The main all target
+all: cmake_check_build_system
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(CMAKE_COMMAND) -E cmake_progress_start /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/CMakeFiles /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/CMakeFiles/progress.marks
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(MAKE) -f CMakeFiles/Makefile2 io_png/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/CMakeFiles 0
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+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(MAKE) -f CMakeFiles/Makefile2 io_png/preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... rebuild_cache"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/cmake_install.cmake

@@ -0,0 +1,40 @@
+# Install script for directory: /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  INCLUDE("/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/io_png.c

@@ -0,0 +1,708 @@
+/*
+ * Copyright (c) 2010, Nicolas Limare <nicolas.limare@cmla.ens-cachan.fr>
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
+ * THE COPYRIGHT HOLDER BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * The views and conclusions contained in the software and
+ * documentation are those of the authors and should not be
+ * interpreted as representing official policies, either expressed
+ * or implied, of the copyright holder.
+ */
+
+/**
+ * @mainpage image read/write simplified interface
+ *
+ * README.txt:
+ * @verbinclude README.txt
+ */
+
+/**
+ * @file io_png.c
+ * @brief PNG read/write simplified interface
+ *
+ * This is a front-end to libpng, with routines to:
+ * @li read a PNG file as a deinterlaced 8bit integer or float array
+ * @li write a 8bit integer or float array to a PNG file
+ *
+ * Multi-channel images are handled : grey, grey+alpha, rgb and
+ * rgb+alpha, as well as on-the-fly color model conversion.
+ *
+ * @todo handle lossless 16bit data
+ * @todo add a test suite
+ * @todo internally handle RGB/gray conversion in read_png_raw()
+ * @todo handle deinterlacing as a libpng transform function
+ *
+ * @author Nicolas Limare <nicolas.limare@cmla.ens-cachan.fr>
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <math.h>
+#include <assert.h>
+
+/* option to use a local version of the libpng */
+#ifdef _LOCAL_LIBS
+#include "png.h"
+#else
+#include <png.h> 
+/* Guoshen Yu, Windows version, 2010.10.16 */
+/* #include "./libs/png/png.h" */
+#endif
+
+/* ensure consistency */
+#include "io_png.h"
+
+#define PNG_SIG_LEN 4
+
+/* internal only datatype identifiers */
+#define IO_PNG_U8  0x0001       /* 8bit unsigned integer */
+#define IO_PNG_F32 0x0002       /* 32bit float */
+
+/*
+ * READ
+ */
+
+/**
+ * @brief internal function used to cleanup the memory when
+ * png_read_raw() fails
+ *
+ * @param fp file pointer to close, ignored if NULL
+ * @param png_ptr_p, info_ptr_p, pointers to PNG structure pointers,
+ *        ignored if NULL
+ * @return NULL
+ */
+static void *read_png_abort(FILE * fp,
+                            png_structp * png_ptr_p, png_infop * info_ptr_p)
+{
+    png_destroy_read_struct(png_ptr_p, info_ptr_p, NULL);
+    if (NULL != fp && stdin != fp)
+        (void) fclose(fp);
+    return NULL;
+}
+
+/**
+ * @brief internal function used to read a PNG file into an array
+ *
+ * @todo don't loose 16bit info
+ *
+ * @param fname PNG file name, "-" means stdin
+ * @param nx, ny, nc pointers to variables to be filled
+ *        with the number of columns, lines and channels of the image
+ * @param transform a PNG_TRANSFORM to be added to the default read transforms
+ * @param dtype identifier for the data type to be used for output
+ * @return pointer to an allocated array of pixels,
+ *         or NULL if an error happens
+ */
+static void *read_png_raw(const char *fname,
+                          size_t * nx, size_t * ny, size_t * nc,
+                          int transform, int dtype)
+{
+    png_byte png_sig[PNG_SIG_LEN];
+    png_structp png_ptr;
+    png_infop info_ptr;
+    png_bytepp row_pointers;
+    png_bytep row_ptr;
+    /* volatile : because of setjmp/longjmp */
+    FILE *volatile fp = NULL;
+    void *data = NULL;
+    unsigned char *data_u8 = NULL;
+    unsigned char *data_u8_ptr = NULL;
+    float *data_f32 = NULL;
+    float *data_f32_ptr = NULL;
+    size_t size;
+    size_t i, j, k;
+
+    /* parameters check */
+    if (NULL == fname || NULL == nx || NULL == ny || NULL == nc)
+        return NULL;
+    if (IO_PNG_U8 != dtype && IO_PNG_F32 != dtype)
+        return NULL;
+
+    /* open the PNG input file */
+    if (0 == strcmp(fname, "-"))
+        fp = stdin;
+    else if (NULL == (fp = fopen(fname, "rb")))
+        return NULL;
+
+    /* read in some of the signature bytes and check this signature */
+    if ((PNG_SIG_LEN != fread(png_sig, 1, PNG_SIG_LEN, fp))
+        || 0 != png_sig_cmp(png_sig, (png_size_t) 0, PNG_SIG_LEN))
+        return read_png_abort(fp, NULL, NULL);
+
+    /*
+     * create and initialize the png_struct
+     * with the default stderr and error handling
+     */
+    if (NULL == (png_ptr = png_create_read_struct(PNG_LIBPNG_VER_STRING,
+                                                  NULL, NULL, NULL)))
+        return read_png_abort(fp, NULL, NULL);
+
+    /* allocate/initialize the memory for image information */
+    if (NULL == (info_ptr = png_create_info_struct(png_ptr)))
+        return read_png_abort(fp, &png_ptr, NULL);
+
+    /* set error handling */
+    if (0 != setjmp(png_jmpbuf(png_ptr)))
+        /* if we get here, we had a problem reading the file */
+        /* free all of the memory associated with the png_ptr and info_ptr */
+        return read_png_abort(fp, &png_ptr, &info_ptr);
+
+    /* set up the input control using standard C streams */
+    png_init_io(png_ptr, fp);
+
+    /* let libpng know that some bytes have been read */
+    png_set_sig_bytes(png_ptr, PNG_SIG_LEN);
+
+    /*
+     * set the read filter transforms, to get 8bit RGB whatever the
+     * original file may contain:
+     * PNG_TRANSFORM_STRIP_16      strip 16-bit samples to 8 bits
+     * PNG_TRANSFORM_PACKING       expand 1, 2 and 4-bit
+     *                             samples to bytes
+     */
+    transform |= (PNG_TRANSFORM_STRIP_16 | PNG_TRANSFORM_PACKING);
+
+    /* read in the entire image at once */
+    png_read_png(png_ptr, info_ptr, transform, NULL);
+
+    /* get image informations */
+    *nx = (size_t) png_get_image_width(png_ptr, info_ptr);
+    *ny = (size_t) png_get_image_height(png_ptr, info_ptr);
+    *nc = (size_t) png_get_channels(png_ptr, info_ptr);
+    row_pointers = png_get_rows(png_ptr, info_ptr);
+
+    /*
+     * allocate the output data RGB array
+     * deinterlace and convert png RGB RGB RGB 8bit to RRR GGG BBB
+     * the image is deinterlaced layer after layer
+     * this generic loop also works for one single channel
+     */
+    size = *nx * *ny * *nc;
+    switch (dtype)
+    {
+    case IO_PNG_U8:
+        if (NULL == (data_u8 =
+                     (unsigned char *) malloc(size * sizeof(unsigned char))))
+            return read_png_abort(fp, &png_ptr, &info_ptr);
+        data = (void *) data_u8;
+        for (k = 0; k < *nc; k++)
+        {
+            /* channel loop */
+            data_u8_ptr = data_u8 + (size_t) (*nx * *ny * k);
+            for (j = 0; j < *ny; j++)
+            {
+                /* row loop */
+                row_ptr = row_pointers[j] + k;
+                for (i = 0; i < *nx; i++)
+                {
+                    /* pixel loop */
+                    *data_u8_ptr++ = (unsigned char) *row_ptr;
+                    row_ptr += *nc;
+                }
+            }
+        }
+        break;
+    case IO_PNG_F32:
+        if (NULL == (data_f32 = (float *) malloc(size * sizeof(float))))
+            return read_png_abort(fp, &png_ptr, &info_ptr);
+        data = (void *) data_f32;
+        for (k = 0; k < *nc; k++)
+        {
+            /* channel loop */
+            data_f32_ptr = data_f32 + (size_t) (*nx * *ny * k);
+            for (j = 0; j < *ny; j++)
+            {
+                /* row loop */
+                row_ptr = row_pointers[j] + k;
+                for (i = 0; i < *nx; i++)
+                {
+                    /* pixel loop */
+                    *data_f32_ptr++ = (float) *row_ptr;
+                    row_ptr += *nc;
+                }
+            }
+        }
+        break;
+    }
+
+    /* clean up and free any memory allocated, close the file */
+    (void) read_png_abort(fp, &png_ptr, &info_ptr);
+
+    return data;
+}
+
+/**
+ * @brief read a PNG file into a 8bit integer array
+ *
+ * The array contains the deinterlaced channels.
+ * 1, 2 and 4bit images are converted to 8bit.
+ * 16bit images are previously downscaled to 8bit.
+ *
+ * @todo don't downscale 16bit images.
+ *
+ * @param fname PNG file name
+ * @param nx, ny, nc pointers to variables to be filled with the number of
+ *        columns, lines and channels of the image
+ * @return pointer to an allocated unsigned char array of pixels,
+ *         or NULL if an error happens
+ */
+unsigned char *read_png_u8(const char *fname,
+                           size_t * nx, size_t * ny, size_t * nc)
+{
+    /* read the image as unsigned char */
+    return (unsigned char *) read_png_raw(fname, nx, ny, nc,
+                                          PNG_TRANSFORM_IDENTITY, IO_PNG_U8);
+}
+
+/**
+ * @brief read a PNG file into a 8bit integer array, converted to RGB
+ *
+ * See read_png_u8() for details.
+ */
+unsigned char *read_png_u8_rgb(const char *fname, size_t * nx, size_t * ny)
+{
+    size_t nc;
+    unsigned char *img;
+
+    /* read the image */
+    img = (unsigned char *) read_png_raw(fname, nx, ny, &nc,
+                                         PNG_TRANSFORM_STRIP_ALPHA,
+                                         IO_PNG_U8);
+    if (NULL == img)
+        /* error */
+        return NULL;
+    if (3 == nc)
+        /* already RGB */
+        return img;
+    else
+    {
+        /* convert to RGB */
+        unsigned char *ptr_r, *ptr_g, *ptr_b, *ptr_end;
+
+        /* resize the image */
+        img = realloc(img, 3 * *nx * *ny * sizeof(unsigned char));
+
+        /* gray->RGB conversion */
+        ptr_r = img;
+        ptr_end = ptr_r + *nx * *ny;
+        ptr_g = img + *nx * *ny;
+        ptr_b = img + 2 * *nx * *ny;
+        while (ptr_r < ptr_end)
+        {
+            *ptr_g++ = *ptr_r;
+            *ptr_b++ = *ptr_r++;
+        }
+        return img;
+    }
+}
+
+/**
+ * @brief read a PNG file into a 8bit integer array, converted to gray
+ *
+ * See read_png_u8() for details.
+ */
+unsigned char *read_png_u8_gray(const char *fname, size_t * nx, size_t * ny)
+{
+    size_t nc;
+    unsigned char *img;
+
+    /* read the image */
+    img = (unsigned char *) read_png_raw(fname, nx, ny, &nc,
+                                         PNG_TRANSFORM_STRIP_ALPHA,
+                                         IO_PNG_U8);
+    if (NULL == img)
+        /* error */
+        return NULL;
+    if (1 == nc)
+        /* already gray */
+        return img;
+    else
+    {
+        /* convert to gray */
+        unsigned char *ptr_r, *ptr_g, *ptr_b, *ptr_gray, *ptr_end;
+
+        /*
+         * RGB->gray conversion
+         * Y = (6969 * R + 23434 * G + 2365 * B)/32768
+         * integer approximation of
+         * Y = 0.212671 * R + 0.715160 * G + 0.072169 * B
+         */
+        ptr_r = img;
+        ptr_g = img + *nx * *ny;
+        ptr_b = img + 2 * *nx * *ny;
+        ptr_gray = img;
+        ptr_end = ptr_gray + *nx * *ny;
+        while (ptr_gray < ptr_end)
+            *ptr_gray++ = (unsigned char) (6969 * *ptr_r++
+                                           + 23434 * *ptr_g++
+                                           + 2365 * *ptr_b++) / 32768;
+        /* resize and return the image */
+        img = realloc(img, *nx * *ny * sizeof(unsigned char));
+        return img;
+    }
+}
+
+/**
+ * @brief read a PNG file into a 32bit float array
+ *
+ * The array contains the deinterlaced channels.
+ * 1, 2, 4 and 8bit images are converted to float values
+ * between 0. and 1., 3., 15. or 255.
+ * 16bit images are also downscaled to 8bit before conversion.
+ *
+ * @param fname PNG file name
+ * @param nx, ny, nc pointers to variables to be filled with the number of
+ *        columns, lines and channels of the image
+ * @return pointer to an allocated unsigned char array of pixels,
+ *         or NULL if an error happens
+ */
+float *read_png_f32(const char *fname, size_t * nx, size_t * ny, size_t * nc)
+{
+    /* read the image as float */
+    return (float *) read_png_raw(fname, nx, ny, nc,
+                                  PNG_TRANSFORM_IDENTITY, IO_PNG_F32);
+}
+
+/**
+ * @brief read a PNG file into a 32bit float array, converted to RGB
+ *
+ * See read_png_f32() for details.
+ */
+float *read_png_f32_rgb(const char *fname, size_t * nx, size_t * ny)
+{
+    size_t nc;
+    float *img;
+
+    /* read the image */
+    img = (float *) read_png_raw(fname, nx, ny, &nc,
+                                 PNG_TRANSFORM_STRIP_ALPHA, IO_PNG_F32);
+    if (NULL == img)
+        /* error */
+        return NULL;
+    if (3 == nc)
+        /* already RGB */
+        return img;
+    else
+    {
+        /* convert to RGB */
+        float *ptr_r, *ptr_g, *ptr_b, *ptr_end;
+
+        /* resize the image */
+        img = realloc(img, 3 * *nx * *ny * sizeof(float));
+
+        /* gray->RGB conversion */
+        ptr_r = img;
+        ptr_end = ptr_r + *nx * *ny;
+        ptr_g = img + *nx * *ny;
+        ptr_b = img + 2 * *nx * *ny;
+        while (ptr_r < ptr_end)
+        {
+            *ptr_g++ = *ptr_r;
+            *ptr_b++ = *ptr_r++;
+        }
+        return img;
+    }
+}
+
+/**
+ * @brief read a PNG file into a 32bit float array, converted to gray
+ *
+ * See read_png_f32() for details.
+ */
+float *read_png_f32_gray(const char *fname, size_t * nx, size_t * ny)
+{
+    size_t nc;
+    float *img;
+
+    /* read the image */
+    img = (float *) read_png_raw(fname, nx, ny, &nc,
+                                 PNG_TRANSFORM_STRIP_ALPHA, IO_PNG_F32);
+    if (NULL == img)
+        /* error */
+        return NULL;
+    if (1 == nc)
+        /* already gray */
+        return img;
+    else
+    {
+        /* convert to gray */
+        float *ptr_r, *ptr_g, *ptr_b, *ptr_gray, *ptr_end;
+
+        /*
+         * RGB->gray conversion
+         * Y = (6969 * R + 23434 * G + 2365 * B)/32768
+         * integer approximation of
+         * Y = 0.212671 * R + 0.715160 * G + 0.072169 * B
+         */
+        ptr_r = img;
+        ptr_g = img + *nx * *ny;
+        ptr_b = img + 2 * *nx * *ny;
+        ptr_gray = img;
+        ptr_end = ptr_gray + *nx * *ny;
+        while (ptr_gray < ptr_end)
+            *ptr_gray++ = (float) (6969 * *ptr_r++
+                                   + 23434 * *ptr_g++
+                                   + 2365 * *ptr_b++) / 32768;
+        /* resize and return the image */
+        img = realloc(img, *nx * *ny * sizeof(float));
+        return img;
+    }
+}
+
+/*
+ * WRITE
+ */
+
+/**
+ * @brief internal function used to cleanup the memory when
+ * png_write_raw() fails
+ *
+ * @param fp file pointer to close, ignored if NULL
+ * @param idata, row_pointers arrays to free, ignored if NULL
+ * @param png_ptr_p, info_ptr_p, pointers to PNG structure pointers,
+ *        ignored if NULL
+ * @return -1
+ */
+static int write_png_abort(FILE * fp,
+                           png_byte * idata, png_bytep * row_pointers,
+                           png_structp * png_ptr_p, png_infop * info_ptr_p)
+{
+    png_destroy_write_struct(png_ptr_p, info_ptr_p);
+    if (NULL != row_pointers)
+        free(row_pointers);
+    if (NULL != idata)
+        free(idata);
+    if (NULL != fp && stdout != fp)
+        (void) fclose(fp);
+    return -1;
+}
+
+/**
+ * @brief internal function used to write a byte array as a PNG file
+ *
+ * The PNG file is written as a 8bit image file, interlaced,
+ * truecolor. Depending on the number of channels, the color model is
+ * gray, gray+alpha, rgb, rgb+alpha.
+ *
+ * @todo handle 16bit
+ *
+ * @param fname PNG file name, "-" means stdout
+ * @param data deinterlaced (RRR..GGG..BBB..AAA) image byte array
+ * @param nx, ny, nc number of columns, lines and channels
+ * @param dtype identifier for the data type to be used for output
+ * @return 0 if everything OK, -1 if an error occured
+ */
+static int write_png_raw(const char *fname, const void *data,
+                         size_t nx, size_t ny, size_t nc, int dtype)
+{
+    png_structp png_ptr;
+    png_infop info_ptr;
+    png_byte *idata = NULL, *idata_ptr = NULL;
+    png_bytep *row_pointers = NULL;
+    png_byte bit_depth;
+    /* volatile : because of setjmp/longjmp */
+    FILE *volatile fp;
+    const unsigned char *data_u8 = NULL;
+    const unsigned char *data_u8_ptr = NULL;
+    const float *data_f32 = NULL;
+    const float *data_f32_ptr = NULL;
+    float tmp;
+    int color_type, interlace, compression, filter;
+    size_t size;
+    size_t i, j, k;
+
+    /* parameters check */
+    if (0 >= nx || 0 >= ny || 0 >= nc)
+        return -1;
+    if (NULL == fname || NULL == data)
+        return -1;
+    if (IO_PNG_U8 != dtype && IO_PNG_F32 != dtype)
+        return -1;
+
+    /* open the PNG output file */
+    if (0 == strcmp(fname, "-"))
+        fp = stdout;
+    else if (NULL == (fp = fopen(fname, "wb")))
+        return -1;
+
+    /* allocate the interlaced array and row pointers */
+    size = nx * ny * nc;
+    if (NULL == (idata = (png_byte *) malloc(size * sizeof(png_byte))))
+        return write_png_abort(fp, NULL, NULL, NULL, NULL);
+
+    if (NULL == (row_pointers = (png_bytep *) malloc(ny * sizeof(png_bytep))))
+        return write_png_abort(fp, idata, NULL, NULL, NULL);
+
+    /*
+     * create and initialize the png_struct
+     * with the default stderr and error handling
+     */
+    if (NULL == (png_ptr = png_create_write_struct(PNG_LIBPNG_VER_STRING,
+                                                   NULL, NULL, NULL)))
+        return write_png_abort(fp, idata, row_pointers, NULL, NULL);
+
+    /* allocate/initialize the memory for image information */
+    if (NULL == (info_ptr = png_create_info_struct(png_ptr)))
+        return write_png_abort(fp, idata, row_pointers, &png_ptr, NULL);
+
+    /* set error handling */
+    if (0 != setjmp(png_jmpbuf(png_ptr)))
+        /* if we get here, we had a problem reading the file */
+        return write_png_abort(fp, idata, row_pointers, &png_ptr, &info_ptr);
+
+    /* set up the input control using standard C streams */
+    png_init_io(png_ptr, fp);
+
+    /* set image informations */
+    bit_depth = 8;
+    switch (nc)
+    {
+    case 1:
+        color_type = PNG_COLOR_TYPE_GRAY;
+        break;
+    case 2:
+        color_type = PNG_COLOR_TYPE_GRAY_ALPHA;
+        break;
+    case 3:
+        color_type = PNG_COLOR_TYPE_RGB;
+        break;
+    case 4:
+        color_type = PNG_COLOR_TYPE_RGB_ALPHA;
+        break;
+    default:
+        png_destroy_read_struct(&png_ptr, NULL, NULL);
+        free(row_pointers);
+        free(idata);
+        (void) fclose(fp);
+        return -1;
+    }
+    interlace = PNG_INTERLACE_ADAM7;
+    compression = PNG_COMPRESSION_TYPE_BASE;
+    filter = PNG_FILTER_TYPE_BASE;
+
+    /* set image header */
+    png_set_IHDR(png_ptr, info_ptr, (png_uint_32) nx, (png_uint_32) ny,
+                 bit_depth, color_type, interlace, compression, filter);
+    /* TODO : significant bit (sBIT), gamma (gAMA), comments (text) chunks */
+    png_write_info(png_ptr, info_ptr);
+
+    /*
+     * interlace and convert RRR GGG BBB to RGB RGB RGB
+     * the image is interlaced layer after layer
+     * this involves more memory exchange, but allows a generic loop
+     */
+    switch (dtype)
+    {
+    case IO_PNG_U8:
+        data_u8 = (unsigned char *) data;
+        for (k = 0; k < nc; k++)
+        {
+            /* channel loop */
+            data_u8_ptr = data_u8 + (size_t) (nx * ny * k);
+            idata_ptr = idata + (size_t) k;
+            for (j = 0; j < ny; j++)
+            {
+                /* row loop */
+                for (i = 0; i < nx; i++)
+                {
+                    /* pixel loop */
+                    *idata_ptr = (png_byte) * data_u8_ptr++;
+                    idata_ptr += nc;
+                }
+            }
+        }
+        break;
+    case IO_PNG_F32:
+        data_f32 = (float *) data;
+        for (k = 0; k < nc; k++)
+        {
+            /* channel loop */
+            data_f32_ptr = data_f32 + (size_t) (nx * ny * k);
+            idata_ptr = idata + (size_t) k;
+            for (j = 0; j < ny; j++)
+            {
+                /* row loop */
+                for (i = 0; i < nx; i++)
+                {
+                    /* pixel loop */
+                    tmp = floor(*data_f32_ptr++ + .5);
+                    *idata_ptr = (png_byte) (tmp < 0. ? 0. :
+                                             (tmp > 255. ? 255. : tmp));
+                    idata_ptr += nc;
+                }
+            }
+        }
+        break;
+    }
+
+    /* set row pointers */
+    for (j = 0; j < ny; j++)
+        row_pointers[j] = idata + (size_t) (nc * nx * j);
+
+    /* write out the entire image and end it */
+    png_write_image(png_ptr, row_pointers);
+    png_write_end(png_ptr, info_ptr);
+
+    /* clean up and free any memory allocated, close the file */
+    (void) write_png_abort(fp, idata, row_pointers, &png_ptr, &info_ptr);
+
+    return 0;
+}
+
+/**
+ * @brief write a 8bit unsigned integer array into a PNG file
+ *
+ * @param fname PNG file name
+ * @param data array to write
+ * @param nx, ny, nc number of columns, lines and channels of the image
+ * @return 0 if everything OK, -1 if an error occured
+ */
+int write_png_u8(const char *fname, const unsigned char *data,
+                 size_t nx, size_t ny, size_t nc)
+{
+    return write_png_raw(fname, (void *) data,
+                         (png_uint_32) nx, (png_uint_32) ny, (png_byte) nc,
+                         IO_PNG_U8);
+}
+
+/**
+ * @brief write a float array into a PNG file
+ *
+ * The float values are rounded to 8bit integers, and bounded to [0, 255].
+ *
+ * @todo handle 16bit images and flexible min/max
+ *
+ * @param fname PNG file name
+ * @param data array to write
+ * @param nx, ny, nc number of columns, lines and channels of the image
+ * @return 0 if everything OK, -1 if an error occured
+ */
+int write_png_f32(const char *fname, const float *data,
+                  size_t nx, size_t ny, size_t nc)
+{
+    return write_png_raw(fname, (void *) data,
+                         (png_uint_32) nx, (png_uint_32) ny, (png_byte) nc,
+                         IO_PNG_F32);
+}

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/io_png.h

@@ -0,0 +1,19 @@
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define IO_PNG_VERSION 0.20100727
+
+/* io_png.c */
+unsigned char *read_png_u8(const char *fname, size_t *nx, size_t *ny, size_t *nc);
+unsigned char *read_png_u8_rgb(const char *fname, size_t *nx, size_t *ny);
+unsigned char *read_png_u8_gray(const char *fname, size_t *nx, size_t *ny);
+float *read_png_f32(const char *fname, size_t *nx, size_t *ny, size_t *nc);
+float *read_png_f32_rgb(const char *fname, size_t *nx, size_t *ny);
+float *read_png_f32_gray(const char *fname, size_t *nx, size_t *ny);
+int write_png_u8(const char *fname, const unsigned char *data, size_t nx, size_t ny, size_t nc);
+int write_png_f32(const char *fname, const float *data, size_t nx, size_t ny, size_t nc);
+
+#ifdef __cplusplus
+}
+#endif

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+
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+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src")
+
+# Force unix paths in dependencies.
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+
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ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/CMakeLists.txt

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+ADD_SUBDIRECTORY(png)

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/Makefile

@@ -0,0 +1,122 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Default target executed when no arguments are given to make.
+default_target: all
+.PHONY : default_target
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target edit_cache
+edit_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running interactive CMake command-line interface..."
+	/usr/bin/cmake -i .
+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+.PHONY : edit_cache/fast
+
+# Special rule for the target rebuild_cache
+rebuild_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+	/usr/bin/cmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
+
+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
+.PHONY : rebuild_cache/fast
+
+# The main all target
+all: cmake_check_build_system
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(CMAKE_COMMAND) -E cmake_progress_start /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/CMakeFiles /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/CMakeFiles/progress.marks
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(MAKE) -f CMakeFiles/Makefile2 io_png/libs/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(MAKE) -f CMakeFiles/Makefile2 io_png/libs/clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(MAKE) -f CMakeFiles/Makefile2 io_png/libs/preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(MAKE) -f CMakeFiles/Makefile2 io_png/libs/preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... rebuild_cache"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/cmake_install.cmake

@@ -0,0 +1,41 @@
+# Install script for directory: /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  INCLUDE("/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/cmake_install.cmake")
+  INCLUDE("/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile

@@ -0,0 +1,49 @@
+# Copyright 2010 Nicolas Limare <nicolas.limare@cmla.ens-cachan.fr>
+#
+# Copying and distribution of this file, with or without
+# modification, are permitted in any medium without royalty provided
+# the copyright notice and this notice are preserved.  This file is
+# offered as-is, without any warranty.
+#
+# This makefile imports and compiles libraries libraries
+# for local use in static form
+
+DEST_DIR = build
+LIB_DIR	= $(DEST_DIR)/lib
+INC_DIR	= $(DEST_DIR)/include
+
+#
+# COMMON
+#
+
+default	: all
+all	: zlib libpng libtiff libjpeg
+
+$(LIB_DIR) $(INC_DIR)	:
+	mkdir -p $@
+$(LIB_DIR)/% $(INC_DIR)/%	:
+	cp $(filter %.h %.a, $^) $@
+
+
+-include makefile.zlib
+-include makefile.libpng
+-include makefile.libjpeg
+-include makefile.libtiff
+
+#
+# HOUSEKEEPING
+#
+
+.PHONY	: clean distclean scrub
+clean	:
+	$(RM) -r $(ZLIB_DIR)	
+	$(RM) -r $(LIBPNG_DIR)
+	$(RM) -r $(LIBJPEG_DIR)
+	$(RM) -r $(LIBTIFF_DIR)
+distclean	: clean
+	$(RM) -r $(DEST_DIR)
+scrub	: distclean
+	$(RM) $(ZLIB_ARC)
+	$(RM) $(LIBPNG_ARC)
+	$(RM) $(LIBJPEG_ARC)
+	$(RM) $(LIBTIFF_ARC)

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.libjpeg

@@ -0,0 +1,49 @@
+# Copyright 2010 Nicolas Limare <nicolas.limare@cmla.ens-cachan.fr>
+#
+# Copying and distribution of this file, with or without
+# modification, are permitted in any medium without royalty provided
+# the copyright notice and this notice are preserved.  This file is
+# offered as-is, without any warranty.
+#
+# This makefile imports and compiles libraries libraries
+# for local use in static form
+
+LIBJPEG_LIB	= $(LIB_DIR)/libjpeg.a
+LIBJPEG_INC	= $(addprefix $(INC_DIR), jconfig.h jerror.h jmorecfg.h jpeglib.h)
+LIBJPEG_FILES	= $(LIBJPEG_LIB) $(LIBJPEG_INC)
+LIBJPEG_DIR 	= jpeg-8b
+LIBJPEG_ARC 	= jpegsrc.v8b.tar.gz
+LIBJPEG_URL 	= http://www.ijg.org/files/jpegsrc.v8b.tar.gz
+
+#
+# LIBJPEG
+#
+
+.PHONY	: libjpeg
+libjpeg	: $(LIBJPEG_DIR)
+
+$(LIBJPEG_FILES)	: $(LIB_DIR) $(INC_DIR)
+$(LIB_DIR)/libjpeg.a	: $(LIBJPEG_DIR)/lib/libjpeg.a
+$(INC_DIR)/jconfig.h	: $(LIBJPEG_DIR)/include/jconfig.h
+$(INC_DIR)/jerror.h	: $(LIBJPEG_DIR)/include/jerror.h
+$(INC_DIR)/jmorecfg.h	: $(LIBJPEG_DIR)/include/jmorecfg.h
+$(INC_DIR)/jpeglib.h	: $(LIBJPEG_DIR)/include/jpeglib.h
+
+$(LIBJPEG_DIR)/lib/libjpeg.a	: $(LIBJPEG_DIR)
+	cd ./$(LIBJPEG_DIR)/; ./configure \
+		--enable-static \
+		--disable-shared \
+		--prefix=$$PWD
+	$(MAKE) -C $(LIBJPEG_DIR) libjpeg.la
+	$(MAKE) -C $(LIBJPEG_DIR) install
+$(LIBJPEG_DIR)/jconfig.h	: $(LIBJPEG_DIR)
+$(LIBJPEG_DIR)/jerror.h		: $(LIBJPEG_DIR)
+$(LIBJPEG_DIR)/jmorecfg.h	: $(LIBJPEG_DIR)
+$(LIBJPEG_DIR)/jpeglib.h	: $(LIBJPEG_DIR)
+
+$(LIBJPEG_DIR) : $(LIBJPEG_ARC)
+	tar xvzf $<
+	touch $@
+
+$(LIBJPEG_ARC) :
+	curl -L $(LIBJPEG_URL) > $@

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.libpng

@@ -0,0 +1,45 @@
+# Copyright 2010 Nicolas Limare <nicolas.limare@cmla.ens-cachan.fr>
+#
+# Copying and distribution of this file, with or without
+# modification, are permitted in any medium without royalty provided
+# the copyright notice and this notice are preserved.  This file is
+# offered as-is, without any warranty.
+#
+# This makefile imports and compiles libraries libraries
+# for local use in static form
+
+LIBPNG_LIB	= $(LIB_DIR)/libpng.a
+LIBPNG_INC	= $(addprefix $(INC_DIR)/, png.h pngconf.h)
+LIBPNG_FILES	= $(LIBPNG_LIB) $(LIBPNG_INC)
+LIBPNG_DIR	= libpng-1.4.3
+LIBPNG_ARC	= libpng-1.4.3.tar.gz
+LIBPNG_URL	= http://sourceforge.net/projects/libpng/files/01-libpng-master/1.4.3/libpng-1.4.3.tar.gz/download
+
+#
+# LIBPNG
+#
+
+.PHONY	: libpng 
+libpng	: $(LIBPNG_FILES)
+
+$(LIBPNG_FILES)	: $(LIB_DIR) $(INC_DIR)
+$(LIB_DIR)/libpng.a	: $(LIBPNG_DIR)/lib/libpng.a
+$(INC_DIR)/png.h	: $(LIBPNG_DIR)/png.h
+$(INC_DIR)/pngconf.h	: $(LIBPNG_DIR)/pngconf.h
+
+$(LIBPNG_DIR)/lib/libpng.a	: $(LIBPNG_DIR) $(ZLIB_FILES)
+	cd ./$(LIBPNG_DIR)/; ./configure \
+		--enable-static \
+		--disable-shared \
+		--prefix=$$PWD
+	$(MAKE) -C $(LIBPNG_DIR) libpng14.la ZLIBLIB=../ ZLIBINC=../
+	$(MAKE) -C $(LIBPNG_DIR) install
+$(LIBPNG_DIR)/png.h	: $(LIBPNG_DIR)
+$(LIBPNG_DIR)/pngconf.h	: $(LIBPNG_DIR)
+
+$(LIBPNG_DIR) : $(LIBPNG_ARC)
+	tar xvzf $<
+	touch $@
+
+$(LIBPNG_ARC) :
+	curl -L $(LIBPNG_URL) > $@

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.libtiff

@@ -0,0 +1,55 @@
+# Copyright 2010 Nicolas Limare <nicolas.limare@cmla.ens-cachan.fr>
+#
+# Copying and distribution of this file, with or without
+# modification, are permitted in any medium without royalty provided
+# the copyright notice and this notice are preserved.  This file is
+# offered as-is, without any warranty.
+#
+# This makefile imports and compiles libraries libraries
+# for local use in static form
+
+LIBTIFF_LIB	= $(LIB_DIR)/libtiff.a
+LIBTIFF_INC	= $(addprefix $(INC_DIR)/, tiffconf.h tiff.h tiffio.h tiffvers.h)
+LIBTIFF_FILES	= $(LIBTIFF_LIB) $(LIBTIFF_INC)
+LIBTIFF_DIR 	= tiff-3.9.4
+LIBTIFF_ARC 	= tiff-3.9.4.tar.gz
+LIBTIFF_URL 	= http://download.osgeo.org/libtiff/tiff-3.9.4.tar.gz
+
+#
+# LIBTIFF
+#
+
+.PHONY	: libtiff
+libtiff	: $(LIBTIFF_FILES)
+
+$(LIBTIFF_FILES)	: $(LIB_DIR) $(INC_DIR)
+$(LIB_DIR)/libtiff.a	: $(LIBTIFF_DIR)/lib/libtiff.a
+$(INC_DIR)/tiff.h	: $(LIBTIFF_DIR)/include/tiff.h
+$(INC_DIR)/tiffio.h	: $(LIBTIFF_DIR)/include/tiffio.h
+$(INC_DIR)/tiffconf.h	: $(LIBTIFF_DIR)/include/tiffconf.h
+$(INC_DIR)/tiffvers.h	: $(LIBTIFF_DIR)/include/tiffvers.h
+
+$(LIBTIFF_DIR)/lib/libtiff.a	: $(LIBTIFF_DIR) $(ZLIB_FILES) $(LIBJPEG_FILES)
+	cd ./$(LIBTIFF_DIR)/; ./configure \
+		--with-zlib-include-dir=../ \
+		--with-zlib-lib-dir=../ \
+		--with-jpeg-include-dir=../ \
+		--with-jpeg-lib-dir=../ \
+		--disable-cxx \
+		--enable-static \
+		--disable-shared \
+		--disable-rpath --prefix=$$PWD
+	$(MAKE) -C $(LIBTIFF_DIR)/port libport.la
+	$(MAKE) -C $(LIBTIFF_DIR)/libtiff libtiff.la
+	$(MAKE) -C $(LIBTIFF_DIR)/libtiff install
+$(LIBTIFF_DIR)/include/tiff.h	: $(LIBTIFF_DIR)
+$(LIBTIFF_DIR)/include/tiffio.h	: $(LIBTIFF_DIR)
+$(LIBTIFF_DIR)/include/tiffconf.h	: $(LIBTIFF_DIR)
+$(LIBTIFF_DIR)/include/tiffvers.h	: $(LIBTIFF_DIR)
+
+$(LIBTIFF_DIR) : $(LIBTIFF_ARC)
+	tar xvzf $<
+	touch $@
+
+$(LIBTIFF_ARC) :
+	curl -L $(LIBTIFF_URL) > $@

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.zlib

@@ -0,0 +1,41 @@
+# Copyright 2010 Nicolas Limare <nicolas.limare@cmla.ens-cachan.fr>
+#
+# Copying and distribution of this file, with or without
+# modification, are permitted in any medium without royalty provided
+# the copyright notice and this notice are preserved.  This file is
+# offered as-is, without any warranty.
+#
+# This makefile imports and compiles libraries libraries
+# for local use in static form
+
+ZLIB_LIB	= $(LIB_DIR)/libz.a
+ZLIB_INC	= $(addprefix $(INC_DIR)/, zlib.h zconf.h)
+ZLIB_FILES	= $(ZLIB_LIB) $(ZLIB_INC)
+ZLIB_DIR	= zlib-1.2.5
+ZLIB_ARC	= zlib-1.2.5.tar.gz
+ZLIB_URL	= http://sourceforge.net/projects/libpng/files/zlib/1.2.5/zlib-1.2.5.tar.gz/download
+
+#
+# ZLIB
+#
+
+.PHONY	: zlib
+zlib	: $(ZLIB_FILES)
+
+$(ZLIB_FILES)	: $(LIB_DIR) $(INC_DIR)
+$(LIB_DIR)/libz.a	: $(ZLIB_DIR)/libz.a
+$(INC_DIR)/zlib.h	: $(ZLIB_DIR)/zlib.h
+$(INC_DIR)/zconf.h	: $(ZLIB_DIR)/zconf.h
+
+$(ZLIB_DIR)/libz.a	: $(ZLIB_DIR)
+	cd ./$(ZLIB_DIR)/; ./configure --static
+	$(MAKE) -C $(ZLIB_DIR) libz.a
+$(ZLIB_DIR)/zlib.h	: $(ZLIB_DIR)
+$(ZLIB_DIR)/zconf.h	: $(ZLIB_DIR)
+
+$(ZLIB_DIR) : $(ZLIB_ARC)
+	tar xvzf $<
+	touch $@
+
+$(ZLIB_ARC) :
+	curl -L $(ZLIB_URL) > $@

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/CMakeFiles/CMakeDirectoryInformation.cmake

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+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Relative path conversion top directories.
+SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src")
+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src")
+
+# Force unix paths in dependencies.
+SET(CMAKE_FORCE_UNIX_PATHS 1)
+
+
+# The C and CXX include file regular expressions for this directory.
+SET(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
+SET(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
+SET(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
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ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/CMakeFiles/png.dir/C.includecache

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+
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+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.c
+png.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
+../zlib/zlib.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zlib.h
+pngconf.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngconf.h
+crtdbg.h
+-
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+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngconf.h
+pngusr.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngusr.h
+config.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/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
+-
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+-
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+-
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+-
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+-
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+-
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+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngerror.c
+png.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pnggccrd.c
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+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngget.c
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+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngmem.c
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+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngpread.c
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+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngread.c
+png.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngrio.c
+png.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngrtran.c
+png.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngrutil.c
+png.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngset.c
+png.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngtrans.c
+png.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngvcrd.c
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwio.c
+png.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwrite.c
+png.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwtran.c
+png.h
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwutil.c
+png.h
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+This copy of the libpng notices is provided for your convenience.  In case of
+any discrepancy between this copy and the notices in the file png.h that is
+included in the libpng distribution, the latter shall prevail.
+
+COPYRIGHT NOTICE, DISCLAIMER, and LICENSE:
+
+If you modify libpng you may insert additional notices immediately following
+this sentence.
+
+libpng versions 1.2.6, August 15, 2004, through 1.2.37, June 4, 2009, are
+Copyright (c) 2004, 2006-2009 Glenn Randers-Pehrson, and are
+distributed according to the same disclaimer and license as libpng-1.2.5
+with the following individual added to the list of Contributing Authors
+
+   Cosmin Truta
+
+libpng versions 1.0.7, July 1, 2000, through 1.2.5 - October 3, 2002, are
+Copyright (c) 2000-2002 Glenn Randers-Pehrson, and are
+distributed according to the same disclaimer and license as libpng-1.0.6
+with the following individuals added to the list of Contributing Authors
+
+   Simon-Pierre Cadieux
+   Eric S. Raymond
+   Gilles Vollant
+
+and with the following additions to the disclaimer:
+
+   There is no warranty against interference with your enjoyment of the
+   library or against infringement.  There is no warranty that our
+   efforts or the library will fulfill any of your particular purposes
+   or needs.  This library is provided with all faults, and the entire
+   risk of satisfactory quality, performance, accuracy, and effort is with
+   the user.
+
+libpng versions 0.97, January 1998, through 1.0.6, March 20, 2000, are
+Copyright (c) 1998, 1999 Glenn Randers-Pehrson, and are
+distributed according to the same disclaimer and license as libpng-0.96,
+with the following individuals added to the list of Contributing Authors:
+
+   Tom Lane
+   Glenn Randers-Pehrson
+   Willem van Schaik
+
+libpng versions 0.89, June 1996, through 0.96, May 1997, are
+Copyright (c) 1996, 1997 Andreas Dilger
+Distributed according to the same disclaimer and license as libpng-0.88,
+with the following individuals added to the list of Contributing Authors:
+
+   John Bowler
+   Kevin Bracey
+   Sam Bushell
+   Magnus Holmgren
+   Greg Roelofs
+   Tom Tanner
+
+libpng versions 0.5, May 1995, through 0.88, January 1996, are
+Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.
+
+For the purposes of this copyright and license, "Contributing Authors"
+is defined as the following set of individuals:
+
+   Andreas Dilger
+   Dave Martindale
+   Guy Eric Schalnat
+   Paul Schmidt
+   Tim Wegner
+
+The PNG Reference Library is supplied "AS IS".  The Contributing Authors
+and Group 42, Inc. disclaim all warranties, expressed or implied,
+including, without limitation, the warranties of merchantability and of
+fitness for any purpose.  The Contributing Authors and Group 42, Inc.
+assume no liability for direct, indirect, incidental, special, exemplary,
+or consequential damages, which may result from the use of the PNG
+Reference Library, even if advised of the possibility of such damage.
+
+Permission is hereby granted to use, copy, modify, and distribute this
+source code, or portions hereof, for any purpose, without fee, subject
+to the following restrictions:
+
+1. The origin of this source code must not be misrepresented.
+
+2. Altered versions must be plainly marked as such and must not
+   be misrepresented as being the original source.
+
+3. This Copyright notice may not be removed or altered from any
+   source or altered source distribution.
+
+The Contributing Authors and Group 42, Inc. specifically permit, without
+fee, and encourage the use of this source code as a component to
+supporting the PNG file format in commercial products.  If you use this
+source code in a product, acknowledgment is not required but would be
+appreciated.
+
+
+A "png_get_copyright" function is available, for convenient use in "about"
+boxes and the like:
+
+   printf("%s",png_get_copyright(NULL));
+
+Also, the PNG logo (in PNG format, of course) is supplied in the
+files "pngbar.png" and "pngbar.jpg (88x31) and "pngnow.png" (98x31).
+
+Libpng is OSI Certified Open Source Software.  OSI Certified Open Source is a
+certification mark of the Open Source Initiative.
+
+Glenn Randers-Pehrson
+glennrp at users.sourceforge.net
+June 4, 2009

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+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(MAKE) -f io_png/libs/png/CMakeFiles/png.dir/build.make io_png/libs/png/CMakeFiles/png.dir/pngwio.c.s
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+
+pngwrite.s: pngwrite.c.s
+.PHONY : pngwrite.s
+
+# target to generate assembly for a file
+pngwrite.c.s:
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(MAKE) -f io_png/libs/png/CMakeFiles/png.dir/build.make io_png/libs/png/CMakeFiles/png.dir/pngwrite.c.s
+.PHONY : pngwrite.c.s
+
+pngwtran.o: pngwtran.c.o
+.PHONY : pngwtran.o
+
+# target to build an object file
+pngwtran.c.o:
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(MAKE) -f io_png/libs/png/CMakeFiles/png.dir/build.make io_png/libs/png/CMakeFiles/png.dir/pngwtran.c.o
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+
+pngwtran.i: pngwtran.c.i
+.PHONY : pngwtran.i
+
+# target to preprocess a source file
+pngwtran.c.i:
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(MAKE) -f io_png/libs/png/CMakeFiles/png.dir/build.make io_png/libs/png/CMakeFiles/png.dir/pngwtran.c.i
+.PHONY : pngwtran.c.i
+
+pngwtran.s: pngwtran.c.s
+.PHONY : pngwtran.s
+
+# target to generate assembly for a file
+pngwtran.c.s:
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(MAKE) -f io_png/libs/png/CMakeFiles/png.dir/build.make io_png/libs/png/CMakeFiles/png.dir/pngwtran.c.s
+.PHONY : pngwtran.c.s
+
+pngwutil.o: pngwutil.c.o
+.PHONY : pngwutil.o
+
+# target to build an object file
+pngwutil.c.o:
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(MAKE) -f io_png/libs/png/CMakeFiles/png.dir/build.make io_png/libs/png/CMakeFiles/png.dir/pngwutil.c.o
+.PHONY : pngwutil.c.o
+
+pngwutil.i: pngwutil.c.i
+.PHONY : pngwutil.i
+
+# target to preprocess a source file
+pngwutil.c.i:
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(MAKE) -f io_png/libs/png/CMakeFiles/png.dir/build.make io_png/libs/png/CMakeFiles/png.dir/pngwutil.c.i
+.PHONY : pngwutil.c.i
+
+pngwutil.s: pngwutil.c.s
+.PHONY : pngwutil.s
+
+# target to generate assembly for a file
+pngwutil.c.s:
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(MAKE) -f io_png/libs/png/CMakeFiles/png.dir/build.make io_png/libs/png/CMakeFiles/png.dir/pngwutil.c.s
+.PHONY : pngwutil.c.s
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... png"
+	@echo "... rebuild_cache"
+	@echo "... png.o"
+	@echo "... png.i"
+	@echo "... png.s"
+	@echo "... pngerror.o"
+	@echo "... pngerror.i"
+	@echo "... pngerror.s"
+	@echo "... pnggccrd.o"
+	@echo "... pnggccrd.i"
+	@echo "... pnggccrd.s"
+	@echo "... pngget.o"
+	@echo "... pngget.i"
+	@echo "... pngget.s"
+	@echo "... pngmem.o"
+	@echo "... pngmem.i"
+	@echo "... pngmem.s"
+	@echo "... pngpread.o"
+	@echo "... pngpread.i"
+	@echo "... pngpread.s"
+	@echo "... pngread.o"
+	@echo "... pngread.i"
+	@echo "... pngread.s"
+	@echo "... pngrio.o"
+	@echo "... pngrio.i"
+	@echo "... pngrio.s"
+	@echo "... pngrtran.o"
+	@echo "... pngrtran.i"
+	@echo "... pngrtran.s"
+	@echo "... pngrutil.o"
+	@echo "... pngrutil.i"
+	@echo "... pngrutil.s"
+	@echo "... pngset.o"
+	@echo "... pngset.i"
+	@echo "... pngset.s"
+	@echo "... pngtrans.o"
+	@echo "... pngtrans.i"
+	@echo "... pngtrans.s"
+	@echo "... pngvcrd.o"
+	@echo "... pngvcrd.i"
+	@echo "... pngvcrd.s"
+	@echo "... pngwio.o"
+	@echo "... pngwio.i"
+	@echo "... pngwio.s"
+	@echo "... pngwrite.o"
+	@echo "... pngwrite.i"
+	@echo "... pngwrite.s"
+	@echo "... pngwtran.o"
+	@echo "... pngwtran.i"
+	@echo "... pngwtran.s"
+	@echo "... pngwutil.o"
+	@echo "... pngwutil.i"
+	@echo "... pngwutil.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/README

@@ -0,0 +1,267 @@
+README for libpng version 1.2.37 - June 4, 2009 (shared library 12.0)
+See the note about version numbers near the top of png.h
+
+See INSTALL for instructions on how to install libpng.
+
+Libpng comes in several distribution formats.  Get libpng-*.tar.gz,
+libpng-*.tar.lzma, or libpng-*.tar.bz2 if you want UNIX-style line
+endings in the text files, or lpng*.7z or lpng*.zip if you want DOS-style
+line endings.  You can get UNIX-style line endings from the *.zip file
+by using "unzip -a" but there seems to be no simple way to recover
+UNIX-style line endings from the *.7z file.  The *.tar.lzma file is
+recommended for *NIX users instead.
+
+Version 0.89 was the first official release of libpng.  Don't let the
+fact that it's the first release fool you.  The libpng library has been in
+extensive use and testing since mid-1995.  By late 1997 it had
+finally gotten to the stage where there hadn't been significant
+changes to the API in some time, and people have a bad feeling about
+libraries with versions < 1.0.  Version 1.0.0 was released in
+March 1998.
+
+****
+Note that some of the changes to the png_info structure render this
+version of the library binary incompatible with libpng-0.89 or
+earlier versions if you are using a shared library.  The type of the
+"filler" parameter for png_set_filler() has changed from png_byte to
+png_uint_32, which will affect shared-library applications that use
+this function.
+
+To avoid problems with changes to the internals of png_info_struct,
+new APIs have been made available in 0.95 to avoid direct application
+access to info_ptr.  These functions are the png_set_<chunk> and
+png_get_<chunk> functions.  These functions should be used when
+accessing/storing the info_struct data, rather than manipulating it
+directly, to avoid such problems in the future.
+
+It is important to note that the APIs do not make current programs
+that access the info struct directly incompatible with the new
+library.  However, it is strongly suggested that new programs use
+the new APIs (as shown in example.c and pngtest.c), and older programs
+be converted to the new format, to facilitate upgrades in the future.
+****
+
+Additions since 0.90 include the ability to compile libpng as a
+Windows DLL, and new APIs for accessing data in the info struct.
+Experimental functions include the ability to set weighting and cost
+factors for row filter selection, direct reads of integers from buffers
+on big-endian processors that support misaligned data access, faster
+methods of doing alpha composition, and more accurate 16->8 bit color
+conversion.
+
+The additions since 0.89 include the ability to read from a PNG stream
+which has had some (or all) of the signature bytes read by the calling
+application.  This also allows the reading of embedded PNG streams that
+do not have the PNG file signature.  As well, it is now possible to set
+the library action on the detection of chunk CRC errors.  It is possible
+to set different actions based on whether the CRC error occurred in a
+critical or an ancillary chunk.
+
+The changes made to the library, and bugs fixed are based on discussions
+on the png-mng-implement mailing list
+and not on material submitted privately to Guy, Andreas, or Glenn.  They will
+forward any good suggestions to the list.
+
+For a detailed description on using libpng, read libpng.txt.  For
+examples of libpng in a program, see example.c and pngtest.c.  For usage
+information and restrictions (what little they are) on libpng, see
+png.h.  For a description on using zlib (the compression library used by
+libpng) and zlib's restrictions, see zlib.h
+
+I have included a general makefile, as well as several machine and
+compiler specific ones, but you may have to modify one for your own needs.
+
+You should use zlib 1.0.4 or later to run this, but it MAY work with
+versions as old as zlib 0.95.  Even so, there are bugs in older zlib
+versions which can cause the output of invalid compression streams for
+some images.  You will definitely need zlib 1.0.4 or later if you are
+taking advantage of the MS-DOS "far" structure allocation for the small
+and medium memory models.  You should also note that zlib is a
+compression library that is useful for more things than just PNG files.
+You can use zlib as a drop-in replacement for fread() and fwrite() if
+you are so inclined.
+
+zlib should be available at the same place that libpng is, or at
+ftp://ftp.simplesystems.org/pub/png/src/
+
+You may also want a copy of the PNG specification.  It is available
+as an RFC, a W3C Recommendation, and an ISO/IEC Standard.  You can find
+these at http://www.libpng.org/pub/png/pngdocs.html
+
+This code is currently being archived at libpng.sf.net in the
+[DOWNLOAD] area, and on CompuServe, Lib 20 (PNG SUPPORT)
+at GO GRAPHSUP.  If you can't find it in any of those places,
+e-mail me, and I'll help you find it.
+
+If you have any code changes, requests, problems, etc., please e-mail
+them to me.  Also, I'd appreciate any make files or project files,
+and any modifications you needed to make to get libpng to compile,
+along with a #define variable to tell what compiler/system you are on.
+If you needed to add transformations to libpng, or wish libpng would
+provide the image in a different way, drop me a note (and code, if
+possible), so I can consider supporting the transformation.
+Finally, if you get any warning messages when compiling libpng
+(note: not zlib), and they are easy to fix, I'd appreciate the
+fix.  Please mention "libpng" somewhere in the subject line.  Thanks.
+
+This release was created and will be supported by myself (of course
+based in a large way on Guy's and Andreas' earlier work), and the PNG group.
+
+Send comments/corrections/commendations to png-mng-implement at lists.sf.net
+(subscription required; visit 
+https://lists.sourceforge.net/lists/listinfo/png-mng-implement
+to subscribe) or to glennrp at users.sourceforge.net
+
+You can't reach Guy, the original libpng author, at the addresses
+given in previous versions of this document.  He and Andreas will read mail
+addressed to the png-mng-implement list, however.
+
+Please do not send general questions about PNG.  Send them to
+the (png-mng-misc at lists.sourceforge.net, subscription required, visit
+https://lists.sourceforge.net/lists/listinfo/png-mng-implement to subscribe)
+On the other hand,
+please do not send libpng questions to that address, send them to me
+or to the png-mng-implement list.  I'll
+get them in the end anyway.  If you have a question about something
+in the PNG specification that is related to using libpng, send it
+to me.  Send me any questions that start with "I was using libpng,
+and ...".  If in doubt, send questions to me.  I'll bounce them
+to others, if necessary.
+
+Please do not send suggestions on how to change PNG.  We have
+been discussing PNG for twelve years now, and it is official and
+finished.  If you have suggestions for libpng, however, I'll
+gladly listen.  Even if your suggestion is not used immediately,
+it may be used later.
+
+Files in this distribution:
+
+      ANNOUNCE      =>  Announcement of this version, with recent changes
+      CHANGES       =>  Description of changes between libpng versions
+      KNOWNBUG      =>  List of known bugs and deficiencies
+      LICENSE       =>  License to use and redistribute libpng
+      README        =>  This file
+      TODO          =>  Things not implemented in the current library
+      Y2KINFO       =>  Statement of Y2K compliance
+      example.c     =>  Example code for using libpng functions
+      libpng-*-*-diff.txt => Diff from previous release
+      libpng.3      =>  manual page for libpng (includes libpng.txt)
+      libpng.txt    =>  Description of libpng and its functions
+      libpngpf.3    =>  manual page for libpng's private functions
+      png.5         =>  manual page for the PNG format
+      png.c         =>  Basic interface functions common to library
+      png.h         =>  Library function and interface declarations
+      pngconf.h     =>  System specific library configuration
+      pngerror.c    =>  Error/warning message I/O functions
+      pngget.c      =>  Functions for retrieving info from struct
+      pngmem.c      =>  Memory handling functions
+      pngbar.png    =>  PNG logo, 88x31
+      pngnow.png    =>  PNG logo, 98x31
+      pngpread.c    =>  Progressive reading functions
+      pngread.c     =>  Read data/helper high-level functions
+      pngrio.c      =>  Lowest-level data read I/O functions
+      pngrtran.c    =>  Read data transformation functions
+      pngrutil.c    =>  Read data utility functions
+      pngset.c      =>  Functions for storing data into the info_struct
+      pngtest.c     =>  Library test program
+      pngtest.png   =>  Library test sample image
+      pngtrans.c    =>  Common data transformation functions
+      pngwio.c      =>  Lowest-level write I/O functions
+      pngwrite.c    =>  High-level write functions
+      pngwtran.c    =>  Write data transformations
+      pngwutil.c    =>  Write utility functions
+      contrib       =>  Contributions
+       gregbook         =>  source code for PNG reading and writing, from
+                            Greg Roelofs' "PNG: The Definitive Guide",
+                            O'Reilly, 1999
+       msvctest     =>  Builds and runs pngtest using a MSVC workspace
+       pngminus     =>  Simple pnm2png and png2pnm programs
+       pngsuite     =>  Test images
+       visupng      =>  Contains a MSVC workspace for VisualPng
+      projects      =>  Contains project files and workspaces for building DLL
+       beos             =>  Contains a Beos workspace for building libpng
+       c5builder        =>  Contains a Borland workspace for building libpng
+                            and zlib
+       visualc6         =>  Contains a Microsoft Visual C++ (MSVC) workspace
+                            for building libpng and zlib
+       netware.txt      =>  Contains instructions for downloading a set of
+                            project files for building libpng and zlib on
+                            Netware.
+       wince.txt        =>  Contains instructions for downloading a Microsoft
+                            Visual C++ (Windows CD Toolkit) workspace for
+                            building libpng and zlib on WindowsCE
+      scripts       =>  Directory containing scripts for building libpng:
+       descrip.mms      =>  VMS makefile for MMS or MMK
+       makefile.std     =>  Generic UNIX makefile (cc, creates static libpng.a)
+       makefile.elf     =>  Linux/ELF makefile symbol versioning,
+                            gcc, creates libpng12.so.0.1.2.37)
+       makefile.linux   =>  Linux/ELF makefile
+                            (gcc, creates libpng12.so.0.1.2.37)
+       makefile.gcmmx   =>  Linux/ELF makefile
+                            (gcc, creates libpng12.so.0.1.2.37,
+                            uses assembler code tuned for Intel MMX platform)
+       makefile.gcc     =>  Generic makefile (gcc, creates static libpng.a)
+       makefile.knr     =>  Archaic UNIX Makefile that converts files with
+                            ansi2knr (Requires ansi2knr.c from
+                            ftp://ftp.cs.wisc.edu/ghost)
+       makefile.aix     =>  AIX makefile
+       makefile.cygwin  =>  Cygwin/gcc makefile
+       makefile.darwin  =>  Darwin makefile
+       makefile.dec     =>  DEC Alpha UNIX makefile
+       makefile.freebsd =>  FreeBSD makefile
+       makefile.hpgcc   =>  HPUX makefile using gcc
+       makefile.hpux    =>  HPUX (10.20 and 11.00) makefile
+       makefile.hp64    =>  HPUX (10.20 and 11.00) makefile, 64 bit
+       makefile.ibmc    =>  IBM C/C++ version 3.x for Win32 and OS/2 (static)
+       makefile.intel   =>  Intel C/C++ version 4.0 and later
+       libpng.icc       =>  Project file, IBM VisualAge/C++ 4.0 or later
+       makefile.netbsd  =>  NetBSD/cc makefile, PNGGCCRD, makes libpng.so.
+       makefile.ne12bsd  =>  NetBSD/cc makefile, PNGGCCRD, makes libpng12.so
+       makefile.openbsd =>  OpenBSD makefile
+       makefile.sgi     =>  Silicon Graphics IRIX (cc, creates static lib)
+       makefile.sggcc   =>  Silicon Graphics
+                            (gcc, creates libpng12.so.0.1.2.37)
+       makefile.sunos   =>  Sun makefile
+       makefile.solaris =>  Solaris 2.X makefile
+                            (gcc, creates libpng12.so.0.1.2.37)
+       makefile.so9     =>  Solaris 9 makefile
+                            (gcc, creates libpng12.so.0.1.2.37)
+       makefile.32sunu  =>  Sun Ultra 32-bit makefile
+       makefile.64sunu  =>  Sun Ultra 64-bit makefile
+       makefile.sco     =>  For SCO OSr5  ELF and Unixware 7 with Native cc
+       makefile.mips    =>  MIPS makefile
+       makefile.acorn   =>  Acorn makefile
+       makefile.amiga   =>  Amiga makefile
+       smakefile.ppc    =>  AMIGA smakefile for SAS C V6.58/7.00 PPC
+                            compiler (Requires SCOPTIONS, copied from
+                            scripts/SCOPTIONS.ppc)
+       makefile.atari   =>  Atari makefile
+       makefile.beos    =>  BEOS makefile for X86
+       makefile.bor     =>  Borland makefile (uses bcc)
+       makefile.bc32    =>  32-bit Borland C++ (all modules compiled in C mode)
+       makefile.tc3     =>  Turbo C 3.0 makefile
+       makefile.dj2     =>  DJGPP 2 makefile
+       makefile.msc     =>  Microsoft C makefile
+       makefile.vcawin32=>  makefile for Microsoft Visual C++ 5.0 and
+                            later (uses assembler code tuned for Intel MMX
+                            platform)
+       makefile.vcwin32 =>  makefile for Microsoft Visual C++ 4.0 and
+                            later (does not use assembler code)
+       makefile.os2     =>  OS/2 Makefile (gcc and emx, requires pngos2.def)
+       pngos2.def       =>  OS/2 module definition file used by makefile.os2
+       makefile.watcom  =>  Watcom 10a+ Makefile, 32-bit flat memory model
+       makevms.com      =>  VMS build script
+       SCOPTIONS.ppc    =>  Used with smakefile.ppc
+
+Good luck, and happy coding.
+
+-Glenn Randers-Pehrson (current maintainer)
+ Internet: glennrp at users.sourceforge.net
+
+-Andreas Eric Dilger (former maintainer, 1996-1997)
+ Internet: adilger at enel.ucalgary.ca
+ Web: http://members.shaw.ca/adilger/
+
+-Guy Eric Schalnat (original author and former maintainer, 1995-1996)
+ (formerly of Group 42, Inc)
+ Internet: gschal at infinet.com

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/cmake_install.cmake

@@ -0,0 +1,34 @@
+# Install script for directory: /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/io_png/libs/png
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/example.c

@@ -0,0 +1,835 @@
+
+#if 0 /* in case someone actually tries to compile this */
+
+/* example.c - an example of using libpng
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * This file has been placed in the public domain by the authors.
+ * Maintained 1998-2009 Glenn Randers-Pehrson
+ * Maintained 1996, 1997 Andreas Dilger)
+ * Written 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ */
+
+/* This is an example of how to use libpng to read and write PNG files.
+ * The file libpng.txt is much more verbose then this.  If you have not
+ * read it, do so first.  This was designed to be a starting point of an
+ * implementation.  This is not officially part of libpng, is hereby placed
+ * in the public domain, and therefore does not require a copyright notice.
+ *
+ * This file does not currently compile, because it is missing certain
+ * parts, like allocating memory to hold an image.  You will have to
+ * supply these parts to get it to compile.  For an example of a minimal
+ * working PNG reader/writer, see pngtest.c, included in this distribution;
+ * see also the programs in the contrib directory.
+ */
+
+#include "png.h"
+
+ /* The png_jmpbuf() macro, used in error handling, became available in
+  * libpng version 1.0.6.  If you want to be able to run your code with older
+  * versions of libpng, you must define the macro yourself (but only if it
+  * is not already defined by libpng!).
+  */
+
+#ifndef png_jmpbuf
+#  define png_jmpbuf(png_ptr) ((png_ptr)->jmpbuf)
+#endif
+
+/* Check to see if a file is a PNG file using png_sig_cmp().  png_sig_cmp()
+ * returns zero if the image is a PNG and nonzero if it isn't a PNG.
+ *
+ * The function check_if_png() shown here, but not used, returns nonzero (true)
+ * if the file can be opened and is a PNG, 0 (false) otherwise.
+ *
+ * If this call is successful, and you are going to keep the file open,
+ * you should call png_set_sig_bytes(png_ptr, PNG_BYTES_TO_CHECK); once
+ * you have created the png_ptr, so that libpng knows your application
+ * has read that many bytes from the start of the file.  Make sure you
+ * don't call png_set_sig_bytes() with more than 8 bytes read or give it
+ * an incorrect number of bytes read, or you will either have read too
+ * many bytes (your fault), or you are telling libpng to read the wrong
+ * number of magic bytes (also your fault).
+ *
+ * Many applications already read the first 2 or 4 bytes from the start
+ * of the image to determine the file type, so it would be easiest just
+ * to pass the bytes to png_sig_cmp() or even skip that if you know
+ * you have a PNG file, and call png_set_sig_bytes().
+ */
+#define PNG_BYTES_TO_CHECK 4
+int check_if_png(char *file_name, FILE **fp)
+{
+   char buf[PNG_BYTES_TO_CHECK];
+
+   /* Open the prospective PNG file. */
+   if ((*fp = fopen(file_name, "rb")) == NULL)
+      return 0;
+
+   /* Read in some of the signature bytes */
+   if (fread(buf, 1, PNG_BYTES_TO_CHECK, *fp) != PNG_BYTES_TO_CHECK)
+      return 0;
+
+   /* Compare the first PNG_BYTES_TO_CHECK bytes of the signature.
+      Return nonzero (true) if they match */
+
+   return(!png_sig_cmp(buf, (png_size_t)0, PNG_BYTES_TO_CHECK));
+}
+
+/* Read a PNG file.  You may want to return an error code if the read
+ * fails (depending upon the failure).  There are two "prototypes" given
+ * here - one where we are given the filename, and we need to open the
+ * file, and the other where we are given an open file (possibly with
+ * some or all of the magic bytes read - see comments above).
+ */
+#ifdef open_file /* prototype 1 */
+void read_png(char *file_name)  /* We need to open the file */
+{
+   png_structp png_ptr;
+   png_infop info_ptr;
+   unsigned int sig_read = 0;
+   png_uint_32 width, height;
+   int bit_depth, color_type, interlace_type;
+   FILE *fp;
+
+   if ((fp = fopen(file_name, "rb")) == NULL)
+      return (ERROR);
+
+#else no_open_file /* prototype 2 */
+void read_png(FILE *fp, unsigned int sig_read)  /* File is already open */
+{
+   png_structp png_ptr;
+   png_infop info_ptr;
+   png_uint_32 width, height;
+   int bit_depth, color_type, interlace_type;
+#endif no_open_file /* Only use one prototype! */
+
+   /* Create and initialize the png_struct with the desired error handler
+    * functions.  If you want to use the default stderr and longjump method,
+    * you can supply NULL for the last three parameters.  We also supply the
+    * the compiler header file version, so that we know if the application
+    * was compiled with a compatible version of the library.  REQUIRED
+    */
+   png_ptr = png_create_read_struct(PNG_LIBPNG_VER_STRING,
+      png_voidp user_error_ptr, user_error_fn, user_warning_fn);
+
+   if (png_ptr == NULL)
+   {
+      fclose(fp);
+      return (ERROR);
+   }
+
+   /* Allocate/initialize the memory for image information.  REQUIRED. */
+   info_ptr = png_create_info_struct(png_ptr);
+   if (info_ptr == NULL)
+   {
+      fclose(fp);
+      png_destroy_read_struct(&png_ptr, png_infopp_NULL, png_infopp_NULL);
+      return (ERROR);
+   }
+
+   /* Set error handling if you are using the setjmp/longjmp method (this is
+    * the normal method of doing things with libpng).  REQUIRED unless you
+    * set up your own error handlers in the png_create_read_struct() earlier.
+    */
+
+   if (setjmp(png_jmpbuf(png_ptr)))
+   {
+      /* Free all of the memory associated with the png_ptr and info_ptr */
+      png_destroy_read_struct(&png_ptr, &info_ptr, png_infopp_NULL);
+      fclose(fp);
+      /* If we get here, we had a problem reading the file */
+      return (ERROR);
+   }
+
+   /* One of the following I/O initialization methods is REQUIRED */
+#ifdef streams /* PNG file I/O method 1 */
+   /* Set up the input control if you are using standard C streams */
+   png_init_io(png_ptr, fp);
+
+#else no_streams /* PNG file I/O method 2 */
+   /* If you are using replacement read functions, instead of calling
+    * png_init_io() here you would call:
+    */
+   png_set_read_fn(png_ptr, (void *)user_io_ptr, user_read_fn);
+   /* where user_io_ptr is a structure you want available to the callbacks */
+#endif no_streams /* Use only one I/O method! */
+
+   /* If we have already read some of the signature */
+   png_set_sig_bytes(png_ptr, sig_read);
+
+#ifdef hilevel
+   /*
+    * If you have enough memory to read in the entire image at once,
+    * and you need to specify only transforms that can be controlled
+    * with one of the PNG_TRANSFORM_* bits (this presently excludes
+    * dithering, filling, setting background, and doing gamma
+    * adjustment), then you can read the entire image (including
+    * pixels) into the info structure with this call:
+    */
+   png_read_png(png_ptr, info_ptr, png_transforms, png_voidp_NULL);
+
+#else
+   /* OK, you're doing it the hard way, with the lower-level functions */
+
+   /* The call to png_read_info() gives us all of the information from the
+    * PNG file before the first IDAT (image data chunk).  REQUIRED
+    */
+   png_read_info(png_ptr, info_ptr);
+
+   png_get_IHDR(png_ptr, info_ptr, &width, &height, &bit_depth, &color_type,
+       &interlace_type, int_p_NULL, int_p_NULL);
+
+   /* Set up the data transformations you want.  Note that these are all
+    * optional.  Only call them if you want/need them.  Many of the
+    * transformations only work on specific types of images, and many
+    * are mutually exclusive.
+    */
+
+   /* Tell libpng to strip 16 bit/color files down to 8 bits/color */
+   png_set_strip_16(png_ptr);
+
+   /* Strip alpha bytes from the input data without combining with the
+    * background (not recommended).
+    */
+   png_set_strip_alpha(png_ptr);
+
+   /* Extract multiple pixels with bit depths of 1, 2, and 4 from a single
+    * byte into separate bytes (useful for paletted and grayscale images).
+    */
+   png_set_packing(png_ptr);
+
+   /* Change the order of packed pixels to least significant bit first
+    * (not useful if you are using png_set_packing). */
+   png_set_packswap(png_ptr);
+
+   /* Expand paletted colors into true RGB triplets */
+   if (color_type == PNG_COLOR_TYPE_PALETTE)
+      png_set_palette_to_rgb(png_ptr);
+
+   /* Expand grayscale images to the full 8 bits from 1, 2, or 4 bits/pixel */
+   if (color_type == PNG_COLOR_TYPE_GRAY && bit_depth < 8)
+      png_set_expand_gray_1_2_4_to_8(png_ptr);
+
+   /* Expand paletted or RGB images with transparency to full alpha channels
+    * so the data will be available as RGBA quartets.
+    */
+   if (png_get_valid(png_ptr, info_ptr, PNG_INFO_tRNS))
+      png_set_tRNS_to_alpha(png_ptr);
+
+   /* Set the background color to draw transparent and alpha images over.
+    * It is possible to set the red, green, and blue components directly
+    * for paletted images instead of supplying a palette index.  Note that
+    * even if the PNG file supplies a background, you are not required to
+    * use it - you should use the (solid) application background if it has one.
+    */
+
+   png_color_16 my_background, *image_background;
+
+   if (png_get_bKGD(png_ptr, info_ptr, &image_background))
+      png_set_background(png_ptr, image_background,
+                         PNG_BACKGROUND_GAMMA_FILE, 1, 1.0);
+   else
+      png_set_background(png_ptr, &my_background,
+                         PNG_BACKGROUND_GAMMA_SCREEN, 0, 1.0);
+
+   /* Some suggestions as to how to get a screen gamma value
+    *
+    * Note that screen gamma is the display_exponent, which includes
+    * the CRT_exponent and any correction for viewing conditions
+    */
+   if (/* We have a user-defined screen gamma value */)
+   {
+      screen_gamma = user-defined screen_gamma;
+   }
+   /* This is one way that applications share the same screen gamma value */
+   else if ((gamma_str = getenv("SCREEN_GAMMA")) != NULL)
+   {
+      screen_gamma = atof(gamma_str);
+   }
+   /* If we don't have another value */
+   else
+   {
+      screen_gamma = 2.2;  /* A good guess for a PC monitor in a dimly
+                              lit room */
+      screen_gamma = 1.7 or 1.0;  /* A good guess for Mac systems */
+   }
+
+   /* Tell libpng to handle the gamma conversion for you.  The final call
+    * is a good guess for PC generated images, but it should be configurable
+    * by the user at run time by the user.  It is strongly suggested that
+    * your application support gamma correction.
+    */
+
+   int intent;
+
+   if (png_get_sRGB(png_ptr, info_ptr, &intent))
+      png_set_gamma(png_ptr, screen_gamma, 0.45455);
+   else
+   {
+      double image_gamma;
+      if (png_get_gAMA(png_ptr, info_ptr, &image_gamma))
+         png_set_gamma(png_ptr, screen_gamma, image_gamma);
+      else
+         png_set_gamma(png_ptr, screen_gamma, 0.45455);
+   }
+
+   /* Dither RGB files down to 8 bit palette or reduce palettes
+    * to the number of colors available on your screen.
+    */
+   if (color_type & PNG_COLOR_MASK_COLOR)
+   {
+      int num_palette;
+      png_colorp palette;
+
+      /* This reduces the image to the application supplied palette */
+      if (/* We have our own palette */)
+      {
+         /* An array of colors to which the image should be dithered */
+         png_color std_color_cube[MAX_SCREEN_COLORS];
+
+         png_set_dither(png_ptr, std_color_cube, MAX_SCREEN_COLORS,
+            MAX_SCREEN_COLORS, png_uint_16p_NULL, 0);
+      }
+      /* This reduces the image to the palette supplied in the file */
+      else if (png_get_PLTE(png_ptr, info_ptr, &palette, &num_palette))
+      {
+         png_uint_16p histogram = NULL;
+
+         png_get_hIST(png_ptr, info_ptr, &histogram);
+
+         png_set_dither(png_ptr, palette, num_palette,
+                        max_screen_colors, histogram, 0);
+      }
+   }
+
+   /* Invert monochrome files to have 0 as white and 1 as black */
+   png_set_invert_mono(png_ptr);
+
+   /* If you want to shift the pixel values from the range [0,255] or
+    * [0,65535] to the original [0,7] or [0,31], or whatever range the
+    * colors were originally in:
+    */
+   if (png_get_valid(png_ptr, info_ptr, PNG_INFO_sBIT))
+   {
+      png_color_8p sig_bit_p;
+
+      png_get_sBIT(png_ptr, info_ptr, &sig_bit_p);
+      png_set_shift(png_ptr, sig_bit_p);
+   }
+
+   /* Flip the RGB pixels to BGR (or RGBA to BGRA) */
+   if (color_type & PNG_COLOR_MASK_COLOR)
+      png_set_bgr(png_ptr);
+
+   /* Swap the RGBA or GA data to ARGB or AG (or BGRA to ABGR) */
+   png_set_swap_alpha(png_ptr);
+
+   /* Swap bytes of 16 bit files to least significant byte first */
+   png_set_swap(png_ptr);
+
+   /* Add filler (or alpha) byte (before/after each RGB triplet) */
+   png_set_filler(png_ptr, 0xff, PNG_FILLER_AFTER);
+
+   /* Turn on interlace handling.  REQUIRED if you are not using
+    * png_read_image().  To see how to handle interlacing passes,
+    * see the png_read_row() method below:
+    */
+   number_passes = png_set_interlace_handling(png_ptr);
+
+   /* Optional call to gamma correct and add the background to the palette
+    * and update info structure.  REQUIRED if you are expecting libpng to
+    * update the palette for you (ie you selected such a transform above).
+    */
+   png_read_update_info(png_ptr, info_ptr);
+
+   /* Allocate the memory to hold the image using the fields of info_ptr. */
+
+   /* The easiest way to read the image: */
+   png_bytep row_pointers[height];
+
+   /* Clear the pointer array */
+   for (row = 0; row < height; row++)
+      row_pointers[row] = NULL;
+
+   for (row = 0; row < height; row++)
+      row_pointers[row] = png_malloc(png_ptr, png_get_rowbytes(png_ptr,
+         info_ptr));
+
+   /* Now it's time to read the image.  One of these methods is REQUIRED */
+#ifdef entire /* Read the entire image in one go */
+   png_read_image(png_ptr, row_pointers);
+
+#else no_entire /* Read the image one or more scanlines at a time */
+   /* The other way to read images - deal with interlacing: */
+
+   for (pass = 0; pass < number_passes; pass++)
+   {
+#ifdef single /* Read the image a single row at a time */
+      for (y = 0; y < height; y++)
+      {
+         png_read_rows(png_ptr, &row_pointers[y], png_bytepp_NULL, 1);
+      }
+
+#else no_single /* Read the image several rows at a time */
+      for (y = 0; y < height; y += number_of_rows)
+      {
+#ifdef sparkle /* Read the image using the "sparkle" effect. */
+         png_read_rows(png_ptr, &row_pointers[y], png_bytepp_NULL,
+            number_of_rows);
+#else no_sparkle /* Read the image using the "rectangle" effect */
+         png_read_rows(png_ptr, png_bytepp_NULL, &row_pointers[y],
+            number_of_rows);
+#endif no_sparkle /* Use only one of these two methods */
+      }
+
+      /* If you want to display the image after every pass, do so here */
+#endif no_single /* Use only one of these two methods */
+   }
+#endif no_entire /* Use only one of these two methods */
+
+   /* Read rest of file, and get additional chunks in info_ptr - REQUIRED */
+   png_read_end(png_ptr, info_ptr);
+#endif hilevel
+
+   /* At this point you have read the entire image */
+
+   /* Clean up after the read, and free any memory allocated - REQUIRED */
+   png_destroy_read_struct(&png_ptr, &info_ptr, png_infopp_NULL);
+
+   /* Close the file */
+   fclose(fp);
+
+   /* That's it */
+   return (OK);
+}
+
+/* Progressively read a file */
+
+int
+initialize_png_reader(png_structp *png_ptr, png_infop *info_ptr)
+{
+   /* Create and initialize the png_struct with the desired error handler
+    * functions.  If you want to use the default stderr and longjump method,
+    * you can supply NULL for the last three parameters.  We also check that
+    * the library version is compatible in case we are using dynamically
+    * linked libraries.
+    */
+   *png_ptr = png_create_read_struct(PNG_LIBPNG_VER_STRING,
+       png_voidp user_error_ptr, user_error_fn, user_warning_fn);
+
+   if (*png_ptr == NULL)
+   {
+      *info_ptr = NULL;
+      return (ERROR);
+   }
+
+   *info_ptr = png_create_info_struct(png_ptr);
+
+   if (*info_ptr == NULL)
+   {
+      png_destroy_read_struct(png_ptr, info_ptr, png_infopp_NULL);
+      return (ERROR);
+   }
+
+   if (setjmp(png_jmpbuf((*png_ptr))))
+   {
+      png_destroy_read_struct(png_ptr, info_ptr, png_infopp_NULL);
+      return (ERROR);
+   }
+
+   /* This one's new.  You will need to provide all three
+    * function callbacks, even if you aren't using them all.
+    * If you aren't using all functions, you can specify NULL
+    * parameters.  Even when all three functions are NULL,
+    * you need to call png_set_progressive_read_fn().
+    * These functions shouldn't be dependent on global or
+    * static variables if you are decoding several images
+    * simultaneously.  You should store stream specific data
+    * in a separate struct, given as the second parameter,
+    * and retrieve the pointer from inside the callbacks using
+    * the function png_get_progressive_ptr(png_ptr).
+    */
+   png_set_progressive_read_fn(*png_ptr, (void *)stream_data,
+      info_callback, row_callback, end_callback);
+
+   return (OK);
+}
+
+int
+process_data(png_structp *png_ptr, png_infop *info_ptr,
+   png_bytep buffer, png_uint_32 length)
+{
+   if (setjmp(png_jmpbuf((*png_ptr))))
+   {
+      /* Free the png_ptr and info_ptr memory on error */
+      png_destroy_read_struct(png_ptr, info_ptr, png_infopp_NULL);
+      return (ERROR);
+   }
+
+   /* This one's new also.  Simply give it chunks of data as
+    * they arrive from the data stream (in order, of course).
+    * On segmented machines, don't give it any more than 64K.
+    * The library seems to run fine with sizes of 4K, although
+    * you can give it much less if necessary (I assume you can
+    * give it chunks of 1 byte, but I haven't tried with less
+    * than 256 bytes yet).  When this function returns, you may
+    * want to display any rows that were generated in the row
+    * callback, if you aren't already displaying them there.
+    */
+   png_process_data(*png_ptr, *info_ptr, buffer, length);
+   return (OK);
+}
+
+info_callback(png_structp png_ptr, png_infop info)
+{
+   /* Do any setup here, including setting any of the transformations
+    * mentioned in the Reading PNG files section.  For now, you _must_
+    * call either png_start_read_image() or png_read_update_info()
+    * after all the transformations are set (even if you don't set
+    * any).  You may start getting rows before png_process_data()
+    * returns, so this is your last chance to prepare for that.
+    */
+}
+
+row_callback(png_structp png_ptr, png_bytep new_row,
+   png_uint_32 row_num, int pass)
+{
+   /*
+    * This function is called for every row in the image.  If the
+    * image is interlaced, and you turned on the interlace handler,
+    * this function will be called for every row in every pass.
+    *
+    * In this function you will receive a pointer to new row data from
+    * libpng called new_row that is to replace a corresponding row (of
+    * the same data format) in a buffer allocated by your application.
+    *
+    * The new row data pointer "new_row" may be NULL, indicating there is
+    * no new data to be replaced (in cases of interlace loading).
+    *
+    * If new_row is not NULL then you need to call
+    * png_progressive_combine_row() to replace the corresponding row as
+    * shown below:
+    */
+
+   /* Check if row_num is in bounds. */
+   if ((row_num >= 0) && (row_num < height))
+   {
+     /* Get pointer to corresponding row in our
+      * PNG read buffer.
+      */
+     png_bytep old_row = ((png_bytep *)our_data)[row_num];
+
+     /* If both rows are allocated then copy the new row
+      * data to the corresponding row data.
+      */
+     if ((old_row != NULL) && (new_row != NULL))
+     png_progressive_combine_row(png_ptr, old_row, new_row);
+   }
+   /*
+    * The rows and passes are called in order, so you don't really
+    * need the row_num and pass, but I'm supplying them because it
+    * may make your life easier.
+    *
+    * For the non-NULL rows of interlaced images, you must call
+    * png_progressive_combine_row() passing in the new row and the
+    * old row, as demonstrated above.  You can call this function for
+    * NULL rows (it will just return) and for non-interlaced images
+    * (it just does the png_memcpy for you) if it will make the code
+    * easier.  Thus, you can just do this for all cases:
+    */
+
+   png_progressive_combine_row(png_ptr, old_row, new_row);
+
+   /* where old_row is what was displayed for previous rows.  Note
+    * that the first pass (pass == 0 really) will completely cover
+    * the old row, so the rows do not have to be initialized.  After
+    * the first pass (and only for interlaced images), you will have
+    * to pass the current row as new_row, and the function will combine
+    * the old row and the new row.
+    */
+}
+
+end_callback(png_structp png_ptr, png_infop info)
+{
+   /* This function is called when the whole image has been read,
+    * including any chunks after the image (up to and including
+    * the IEND).  You will usually have the same info chunk as you
+    * had in the header, although some data may have been added
+    * to the comments and time fields.
+    *
+    * Most people won't do much here, perhaps setting a flag that
+    * marks the image as finished.
+    */
+}
+
+/* Write a png file */
+void write_png(char *file_name /* , ... other image information ... */)
+{
+   FILE *fp;
+   png_structp png_ptr;
+   png_infop info_ptr;
+   png_colorp palette;
+
+   /* Open the file */
+   fp = fopen(file_name, "wb");
+   if (fp == NULL)
+      return (ERROR);
+
+   /* Create and initialize the png_struct with the desired error handler
+    * functions.  If you want to use the default stderr and longjump method,
+    * you can supply NULL for the last three parameters.  We also check that
+    * the library version is compatible with the one used at compile time,
+    * in case we are using dynamically linked libraries.  REQUIRED.
+    */
+   png_ptr = png_create_write_struct(PNG_LIBPNG_VER_STRING,
+      png_voidp user_error_ptr, user_error_fn, user_warning_fn);
+
+   if (png_ptr == NULL)
+   {
+      fclose(fp);
+      return (ERROR);
+   }
+
+   /* Allocate/initialize the image information data.  REQUIRED */
+   info_ptr = png_create_info_struct(png_ptr);
+   if (info_ptr == NULL)
+   {
+      fclose(fp);
+      png_destroy_write_struct(&png_ptr,  png_infopp_NULL);
+      return (ERROR);
+   }
+
+   /* Set error handling.  REQUIRED if you aren't supplying your own
+    * error handling functions in the png_create_write_struct() call.
+    */
+   if (setjmp(png_jmpbuf(png_ptr)))
+   {
+      /* If we get here, we had a problem writing the file */
+      fclose(fp);
+      png_destroy_write_struct(&png_ptr, &info_ptr);
+      return (ERROR);
+   }
+
+   /* One of the following I/O initialization functions is REQUIRED */
+
+#ifdef streams /* I/O initialization method 1 */
+   /* Set up the output control if you are using standard C streams */
+   png_init_io(png_ptr, fp);
+
+#else no_streams /* I/O initialization method 2 */
+   /* If you are using replacement write functions, instead of calling
+    * png_init_io() here you would call
+    */
+   png_set_write_fn(png_ptr, (void *)user_io_ptr, user_write_fn,
+      user_IO_flush_function);
+   /* where user_io_ptr is a structure you want available to the callbacks */
+#endif no_streams /* Only use one initialization method */
+
+#ifdef hilevel
+   /* This is the easy way.  Use it if you already have all the
+    * image info living in the structure.  You could "|" many
+    * PNG_TRANSFORM flags into the png_transforms integer here.
+    */
+   png_write_png(png_ptr, info_ptr, png_transforms, png_voidp_NULL);
+
+#else
+   /* This is the hard way */
+
+   /* Set the image information here.  Width and height are up to 2^31,
+    * bit_depth is one of 1, 2, 4, 8, or 16, but valid values also depend on
+    * the color_type selected. color_type is one of PNG_COLOR_TYPE_GRAY,
+    * PNG_COLOR_TYPE_GRAY_ALPHA, PNG_COLOR_TYPE_PALETTE, PNG_COLOR_TYPE_RGB,
+    * or PNG_COLOR_TYPE_RGB_ALPHA.  interlace is either PNG_INTERLACE_NONE or
+    * PNG_INTERLACE_ADAM7, and the compression_type and filter_type MUST
+    * currently be PNG_COMPRESSION_TYPE_BASE and PNG_FILTER_TYPE_BASE. REQUIRED
+    */
+   png_set_IHDR(png_ptr, info_ptr, width, height, bit_depth, PNG_COLOR_TYPE_???,
+      PNG_INTERLACE_????, PNG_COMPRESSION_TYPE_BASE, PNG_FILTER_TYPE_BASE);
+
+   /* Set the palette if there is one.  REQUIRED for indexed-color images */
+   palette = (png_colorp)png_malloc(png_ptr, PNG_MAX_PALETTE_LENGTH
+             * png_sizeof(png_color));
+   /* ... Set palette colors ... */
+   png_set_PLTE(png_ptr, info_ptr, palette, PNG_MAX_PALETTE_LENGTH);
+   /* You must not free palette here, because png_set_PLTE only makes a link to
+    * the palette that you malloced.  Wait until you are about to destroy
+    * the png structure.
+    */
+
+   /* Optional significant bit (sBIT) chunk */
+   png_color_8 sig_bit;
+   /* If we are dealing with a grayscale image then */
+   sig_bit.gray = true_bit_depth;
+   /* Otherwise, if we are dealing with a color image then */
+   sig_bit.red = true_red_bit_depth;
+   sig_bit.green = true_green_bit_depth;
+   sig_bit.blue = true_blue_bit_depth;
+   /* If the image has an alpha channel then */
+   sig_bit.alpha = true_alpha_bit_depth;
+   png_set_sBIT(png_ptr, info_ptr, &sig_bit);
+
+
+   /* Optional gamma chunk is strongly suggested if you have any guess
+    * as to the correct gamma of the image.
+    */
+   png_set_gAMA(png_ptr, info_ptr, gamma);
+
+   /* Optionally write comments into the image */
+   text_ptr[0].key = "Title";
+   text_ptr[0].text = "Mona Lisa";
+   text_ptr[0].compression = PNG_TEXT_COMPRESSION_NONE;
+   text_ptr[1].key = "Author";
+   text_ptr[1].text = "Leonardo DaVinci";
+   text_ptr[1].compression = PNG_TEXT_COMPRESSION_NONE;
+   text_ptr[2].key = "Description";
+   text_ptr[2].text = "<long text>";
+   text_ptr[2].compression = PNG_TEXT_COMPRESSION_zTXt;
+#ifdef PNG_iTXt_SUPPORTED
+   text_ptr[0].lang = NULL;
+   text_ptr[1].lang = NULL;
+   text_ptr[2].lang = NULL;
+#endif
+   png_set_text(png_ptr, info_ptr, text_ptr, 3);
+
+   /* Other optional chunks like cHRM, bKGD, tRNS, tIME, oFFs, pHYs */
+
+   /* Note that if sRGB is present the gAMA and cHRM chunks must be ignored
+    * on read and, if your application chooses to write them, they must
+    * be written in accordance with the sRGB profile
+    */
+
+   /* Write the file header information.  REQUIRED */
+   png_write_info(png_ptr, info_ptr);
+
+   /* If you want, you can write the info in two steps, in case you need to
+    * write your private chunk ahead of PLTE:
+    *
+    *   png_write_info_before_PLTE(write_ptr, write_info_ptr);
+    *   write_my_chunk();
+    *   png_write_info(png_ptr, info_ptr);
+    *
+    * However, given the level of known- and unknown-chunk support in 1.2.0
+    * and up, this should no longer be necessary.
+    */
+
+   /* Once we write out the header, the compression type on the text
+    * chunks gets changed to PNG_TEXT_COMPRESSION_NONE_WR or
+    * PNG_TEXT_COMPRESSION_zTXt_WR, so it doesn't get written out again
+    * at the end.
+    */
+
+   /* Set up the transformations you want.  Note that these are
+    * all optional.  Only call them if you want them.
+    */
+
+   /* Invert monochrome pixels */
+   png_set_invert_mono(png_ptr);
+
+   /* Shift the pixels up to a legal bit depth and fill in
+    * as appropriate to correctly scale the image.
+    */
+   png_set_shift(png_ptr, &sig_bit);
+
+   /* Pack pixels into bytes */
+   png_set_packing(png_ptr);
+
+   /* Swap location of alpha bytes from ARGB to RGBA */
+   png_set_swap_alpha(png_ptr);
+
+   /* Get rid of filler (OR ALPHA) bytes, pack XRGB/RGBX/ARGB/RGBA into
+    * RGB (4 channels -> 3 channels). The second parameter is not used.
+    */
+   png_set_filler(png_ptr, 0, PNG_FILLER_BEFORE);
+
+   /* Flip BGR pixels to RGB */
+   png_set_bgr(png_ptr);
+
+   /* Swap bytes of 16-bit files to most significant byte first */
+   png_set_swap(png_ptr);
+
+   /* Swap bits of 1, 2, 4 bit packed pixel formats */
+   png_set_packswap(png_ptr);
+
+   /* Turn on interlace handling if you are not using png_write_image() */
+   if (interlacing)
+      number_passes = png_set_interlace_handling(png_ptr);
+   else
+      number_passes = 1;
+
+   /* The easiest way to write the image (you may have a different memory
+    * layout, however, so choose what fits your needs best).  You need to
+    * use the first method if you aren't handling interlacing yourself.
+    */
+   png_uint_32 k, height, width;
+   png_byte image[height][width*bytes_per_pixel];
+   png_bytep row_pointers[height];
+
+   if (height > PNG_UINT_32_MAX/png_sizeof(png_bytep))
+     png_error (png_ptr, "Image is too tall to process in memory");
+
+   for (k = 0; k < height; k++)
+     row_pointers[k] = image + k*width*bytes_per_pixel;
+
+   /* One of the following output methods is REQUIRED */
+
+#ifdef entire /* Write out the entire image data in one call */
+   png_write_image(png_ptr, row_pointers);
+
+   /* The other way to write the image - deal with interlacing */
+
+#else no_entire /* Write out the image data by one or more scanlines */
+
+   /* The number of passes is either 1 for non-interlaced images,
+    * or 7 for interlaced images.
+    */
+   for (pass = 0; pass < number_passes; pass++)
+   {
+      /* Write a few rows at a time. */
+      png_write_rows(png_ptr, &row_pointers[first_row], number_of_rows);
+
+      /* If you are only writing one row at a time, this works */
+      for (y = 0; y < height; y++)
+         png_write_rows(png_ptr, &row_pointers[y], 1);
+   }
+#endif no_entire /* Use only one output method */
+
+   /* You can write optional chunks like tEXt, zTXt, and tIME at the end
+    * as well.  Shouldn't be necessary in 1.2.0 and up as all the public
+    * chunks are supported and you can use png_set_unknown_chunks() to
+    * register unknown chunks into the info structure to be written out.
+    */
+
+   /* It is REQUIRED to call this to finish writing the rest of the file */
+   png_write_end(png_ptr, info_ptr);
+#endif hilevel
+
+   /* If you png_malloced a palette, free it here (don't free info_ptr->palette,
+    * as recommended in versions 1.0.5m and earlier of this example; if
+    * libpng mallocs info_ptr->palette, libpng will free it).  If you
+    * allocated it with malloc() instead of png_malloc(), use free() instead
+    * of png_free().
+    */
+   png_free(png_ptr, palette);
+   palette = NULL;
+
+   /* Similarly, if you png_malloced any data that you passed in with
+    * png_set_something(), such as a hist or trans array, free it here,
+    * when you can be sure that libpng is through with it.
+    */
+   png_free(png_ptr, trans);
+   trans = NULL;
+   /* Whenever you use png_free() it is a good idea to set the pointer to
+    * NULL in case your application inadvertently tries to png_free() it
+    * again.  When png_free() sees a NULL it returns without action, thus
+    * avoiding the double-free security problem.
+    */
+
+   /* Clean up after the write, and free any memory allocated */
+   png_destroy_write_struct(&png_ptr, &info_ptr);
+
+   /* Close the file */
+   fclose(fp);
+
+   /* That's it */
+   return (OK);
+}
+
+#endif /* if 0 */

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.c

@@ -0,0 +1,922 @@
+
+/* png.c - location for general purpose libpng functions
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ */
+
+#define PNG_INTERNAL
+#define PNG_NO_EXTERN
+#include "png.h"
+
+/* Generate a compiler error if there is an old png.h in the search path. */
+typedef version_1_2_37 Your_png_h_is_not_version_1_2_37;
+
+/* Version information for C files.  This had better match the version
+ * string defined in png.h.  */
+
+#ifdef PNG_USE_GLOBAL_ARRAYS
+/* png_libpng_ver was changed to a function in version 1.0.5c */
+PNG_CONST char png_libpng_ver[18] = PNG_LIBPNG_VER_STRING;
+
+#ifdef PNG_READ_SUPPORTED
+
+/* png_sig was changed to a function in version 1.0.5c */
+/* Place to hold the signature string for a PNG file. */
+PNG_CONST png_byte FARDATA png_sig[8] = {137, 80, 78, 71, 13, 10, 26, 10};
+#endif /* PNG_READ_SUPPORTED */
+
+/* Invoke global declarations for constant strings for known chunk types */
+PNG_IHDR;
+PNG_IDAT;
+PNG_IEND;
+PNG_PLTE;
+PNG_bKGD;
+PNG_cHRM;
+PNG_gAMA;
+PNG_hIST;
+PNG_iCCP;
+PNG_iTXt;
+PNG_oFFs;
+PNG_pCAL;
+PNG_sCAL;
+PNG_pHYs;
+PNG_sBIT;
+PNG_sPLT;
+PNG_sRGB;
+PNG_tEXt;
+PNG_tIME;
+PNG_tRNS;
+PNG_zTXt;
+
+#ifdef PNG_READ_SUPPORTED
+/* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
+
+/* Start of interlace block */
+PNG_CONST int FARDATA png_pass_start[] = {0, 4, 0, 2, 0, 1, 0};
+
+/* Offset to next interlace block */
+PNG_CONST int FARDATA png_pass_inc[] = {8, 8, 4, 4, 2, 2, 1};
+
+/* Start of interlace block in the y direction */
+PNG_CONST int FARDATA png_pass_ystart[] = {0, 0, 4, 0, 2, 0, 1};
+
+/* Offset to next interlace block in the y direction */
+PNG_CONST int FARDATA png_pass_yinc[] = {8, 8, 8, 4, 4, 2, 2};
+
+/* Height of interlace block.  This is not currently used - if you need
+ * it, uncomment it here and in png.h
+PNG_CONST int FARDATA png_pass_height[] = {8, 8, 4, 4, 2, 2, 1};
+*/
+
+/* Mask to determine which pixels are valid in a pass */
+PNG_CONST int FARDATA png_pass_mask[] = {0x80, 0x08, 0x88, 0x22, 0xaa, 0x55, 0xff};
+
+/* Mask to determine which pixels to overwrite while displaying */
+PNG_CONST int FARDATA png_pass_dsp_mask[]
+   = {0xff, 0x0f, 0xff, 0x33, 0xff, 0x55, 0xff};
+
+#endif /* PNG_READ_SUPPORTED */
+#endif /* PNG_USE_GLOBAL_ARRAYS */
+
+/* Tells libpng that we have already handled the first "num_bytes" bytes
+ * of the PNG file signature.  If the PNG data is embedded into another
+ * stream we can set num_bytes = 8 so that libpng will not attempt to read
+ * or write any of the magic bytes before it starts on the IHDR.
+ */
+
+#ifdef PNG_READ_SUPPORTED
+void PNGAPI
+png_set_sig_bytes(png_structp png_ptr, int num_bytes)
+{
+   if (png_ptr == NULL)
+      return;
+   png_debug(1, "in png_set_sig_bytes");
+   if (num_bytes > 8)
+      png_error(png_ptr, "Too many bytes for PNG signature.");
+
+   png_ptr->sig_bytes = (png_byte)(num_bytes < 0 ? 0 : num_bytes);
+}
+
+/* Checks whether the supplied bytes match the PNG signature.  We allow
+ * checking less than the full 8-byte signature so that those apps that
+ * already read the first few bytes of a file to determine the file type
+ * can simply check the remaining bytes for extra assurance.  Returns
+ * an integer less than, equal to, or greater than zero if sig is found,
+ * respectively, to be less than, to match, or be greater than the correct
+ * PNG signature (this is the same behaviour as strcmp, memcmp, etc).
+ */
+int PNGAPI
+png_sig_cmp(png_bytep sig, png_size_t start, png_size_t num_to_check)
+{
+   png_byte png_signature[8] = {137, 80, 78, 71, 13, 10, 26, 10};
+   if (num_to_check > 8)
+      num_to_check = 8;
+   else if (num_to_check < 1)
+      return (-1);
+
+   if (start > 7)
+      return (-1);
+
+   if (start + num_to_check > 8)
+      num_to_check = 8 - start;
+
+   return ((int)(png_memcmp(&sig[start], &png_signature[start], num_to_check)));
+}
+
+#if defined(PNG_1_0_X) || defined(PNG_1_2_X)
+/* (Obsolete) function to check signature bytes.  It does not allow one
+ * to check a partial signature.  This function might be removed in the
+ * future - use png_sig_cmp().  Returns true (nonzero) if the file is PNG.
+ */
+int PNGAPI
+png_check_sig(png_bytep sig, int num)
+{
+  return ((int)!png_sig_cmp(sig, (png_size_t)0, (png_size_t)num));
+}
+#endif
+#endif /* PNG_READ_SUPPORTED */
+
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+/* Function to allocate memory for zlib and clear it to 0. */
+#ifdef PNG_1_0_X
+voidpf PNGAPI
+#else
+voidpf /* private */
+#endif
+png_zalloc(voidpf png_ptr, uInt items, uInt size)
+{
+   png_voidp ptr;
+   png_structp p=(png_structp)png_ptr;
+   png_uint_32 save_flags=p->flags;
+   png_uint_32 num_bytes;
+
+   if (png_ptr == NULL)
+      return (NULL);
+   if (items > PNG_UINT_32_MAX/size)
+   {
+     png_warning (p, "Potential overflow in png_zalloc()");
+     return (NULL);
+   }
+   num_bytes = (png_uint_32)items * size;
+
+   p->flags|=PNG_FLAG_MALLOC_NULL_MEM_OK;
+   ptr = (png_voidp)png_malloc((png_structp)png_ptr, num_bytes);
+   p->flags=save_flags;
+
+#if defined(PNG_1_0_X) && !defined(PNG_NO_ZALLOC_ZERO)
+   if (ptr == NULL)
+       return ((voidpf)ptr);
+
+   if (num_bytes > (png_uint_32)0x8000L)
+   {
+      png_memset(ptr, 0, (png_size_t)0x8000L);
+      png_memset((png_bytep)ptr + (png_size_t)0x8000L, 0,
+         (png_size_t)(num_bytes - (png_uint_32)0x8000L));
+   }
+   else
+   {
+      png_memset(ptr, 0, (png_size_t)num_bytes);
+   }
+#endif
+   return ((voidpf)ptr);
+}
+
+/* Function to free memory for zlib */
+#ifdef PNG_1_0_X
+void PNGAPI
+#else
+void /* private */
+#endif
+png_zfree(voidpf png_ptr, voidpf ptr)
+{
+   png_free((png_structp)png_ptr, (png_voidp)ptr);
+}
+
+/* Reset the CRC variable to 32 bits of 1's.  Care must be taken
+ * in case CRC is > 32 bits to leave the top bits 0.
+ */
+void /* PRIVATE */
+png_reset_crc(png_structp png_ptr)
+{
+   png_ptr->crc = crc32(0, Z_NULL, 0);
+}
+
+/* Calculate the CRC over a section of data.  We can only pass as
+ * much data to this routine as the largest single buffer size.  We
+ * also check that this data will actually be used before going to the
+ * trouble of calculating it.
+ */
+void /* PRIVATE */
+png_calculate_crc(png_structp png_ptr, png_bytep ptr, png_size_t length)
+{
+   int need_crc = 1;
+
+   if (png_ptr->chunk_name[0] & 0x20)                     /* ancillary */
+   {
+      if ((png_ptr->flags & PNG_FLAG_CRC_ANCILLARY_MASK) ==
+          (PNG_FLAG_CRC_ANCILLARY_USE | PNG_FLAG_CRC_ANCILLARY_NOWARN))
+         need_crc = 0;
+   }
+   else                                                    /* critical */
+   {
+      if (png_ptr->flags & PNG_FLAG_CRC_CRITICAL_IGNORE)
+         need_crc = 0;
+   }
+
+   if (need_crc)
+      png_ptr->crc = crc32(png_ptr->crc, ptr, (uInt)length);
+}
+
+/* Allocate the memory for an info_struct for the application.  We don't
+ * really need the png_ptr, but it could potentially be useful in the
+ * future.  This should be used in favour of malloc(png_sizeof(png_info))
+ * and png_info_init() so that applications that want to use a shared
+ * libpng don't have to be recompiled if png_info changes size.
+ */
+png_infop PNGAPI
+png_create_info_struct(png_structp png_ptr)
+{
+   png_infop info_ptr;
+
+   png_debug(1, "in png_create_info_struct");
+   if (png_ptr == NULL)
+      return (NULL);
+#ifdef PNG_USER_MEM_SUPPORTED
+   info_ptr = (png_infop)png_create_struct_2(PNG_STRUCT_INFO,
+      png_ptr->malloc_fn, png_ptr->mem_ptr);
+#else
+   info_ptr = (png_infop)png_create_struct(PNG_STRUCT_INFO);
+#endif
+   if (info_ptr != NULL)
+      png_info_init_3(&info_ptr, png_sizeof(png_info));
+
+   return (info_ptr);
+}
+
+/* This function frees the memory associated with a single info struct.
+ * Normally, one would use either png_destroy_read_struct() or
+ * png_destroy_write_struct() to free an info struct, but this may be
+ * useful for some applications.
+ */
+void PNGAPI
+png_destroy_info_struct(png_structp png_ptr, png_infopp info_ptr_ptr)
+{
+   png_infop info_ptr = NULL;
+   if (png_ptr == NULL)
+      return;
+
+   png_debug(1, "in png_destroy_info_struct");
+   if (info_ptr_ptr != NULL)
+      info_ptr = *info_ptr_ptr;
+
+   if (info_ptr != NULL)
+   {
+      png_info_destroy(png_ptr, info_ptr);
+
+#ifdef PNG_USER_MEM_SUPPORTED
+      png_destroy_struct_2((png_voidp)info_ptr, png_ptr->free_fn,
+          png_ptr->mem_ptr);
+#else
+      png_destroy_struct((png_voidp)info_ptr);
+#endif
+      *info_ptr_ptr = NULL;
+   }
+}
+
+/* Initialize the info structure.  This is now an internal function (0.89)
+ * and applications using it are urged to use png_create_info_struct()
+ * instead.
+ */
+#if defined(PNG_1_0_X) || defined(PNG_1_2_X)
+#undef png_info_init
+void PNGAPI
+png_info_init(png_infop info_ptr)
+{
+   /* We only come here via pre-1.0.12-compiled applications */
+   png_info_init_3(&info_ptr, 0);
+}
+#endif
+
+void PNGAPI
+png_info_init_3(png_infopp ptr_ptr, png_size_t png_info_struct_size)
+{
+   png_infop info_ptr = *ptr_ptr;
+
+   if (info_ptr == NULL)
+      return;
+
+   png_debug(1, "in png_info_init_3");
+
+   if (png_sizeof(png_info) > png_info_struct_size)
+   {
+      png_destroy_struct(info_ptr);
+      info_ptr = (png_infop)png_create_struct(PNG_STRUCT_INFO);
+      *ptr_ptr = info_ptr;
+   }
+
+   /* Set everything to 0 */
+   png_memset(info_ptr, 0, png_sizeof(png_info));
+}
+
+#ifdef PNG_FREE_ME_SUPPORTED
+void PNGAPI
+png_data_freer(png_structp png_ptr, png_infop info_ptr,
+   int freer, png_uint_32 mask)
+{
+   png_debug(1, "in png_data_freer");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+   if (freer == PNG_DESTROY_WILL_FREE_DATA)
+      info_ptr->free_me |= mask;
+   else if (freer == PNG_USER_WILL_FREE_DATA)
+      info_ptr->free_me &= ~mask;
+   else
+      png_warning(png_ptr,
+         "Unknown freer parameter in png_data_freer.");
+}
+#endif
+
+void PNGAPI
+png_free_data(png_structp png_ptr, png_infop info_ptr, png_uint_32 mask,
+   int num)
+{
+   png_debug(1, "in png_free_data");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+#if defined(PNG_TEXT_SUPPORTED)
+   /* Free text item num or (if num == -1) all text items */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_TEXT) & info_ptr->free_me)
+#else
+   if (mask & PNG_FREE_TEXT)
+#endif
+   {
+      if (num != -1)
+      {
+         if (info_ptr->text && info_ptr->text[num].key)
+         {
+            png_free(png_ptr, info_ptr->text[num].key);
+            info_ptr->text[num].key = NULL;
+         }
+      }
+      else
+      {
+         int i;
+         for (i = 0; i < info_ptr->num_text; i++)
+             png_free_data(png_ptr, info_ptr, PNG_FREE_TEXT, i);
+         png_free(png_ptr, info_ptr->text);
+         info_ptr->text = NULL;
+         info_ptr->num_text=0;
+      }
+   }
+#endif
+
+#if defined(PNG_tRNS_SUPPORTED)
+   /* Free any tRNS entry */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_TRNS) & info_ptr->free_me)
+#else
+   if ((mask & PNG_FREE_TRNS) && (png_ptr->flags & PNG_FLAG_FREE_TRNS))
+#endif
+   {
+      png_free(png_ptr, info_ptr->trans);
+      info_ptr->trans = NULL;
+      info_ptr->valid &= ~PNG_INFO_tRNS;
+#ifndef PNG_FREE_ME_SUPPORTED
+      png_ptr->flags &= ~PNG_FLAG_FREE_TRNS;
+#endif
+   }
+#endif
+
+#if defined(PNG_sCAL_SUPPORTED)
+   /* Free any sCAL entry */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_SCAL) & info_ptr->free_me)
+#else
+   if (mask & PNG_FREE_SCAL)
+#endif
+   {
+#if defined(PNG_FIXED_POINT_SUPPORTED) && !defined(PNG_FLOATING_POINT_SUPPORTED)
+      png_free(png_ptr, info_ptr->scal_s_width);
+      png_free(png_ptr, info_ptr->scal_s_height);
+      info_ptr->scal_s_width = NULL;
+      info_ptr->scal_s_height = NULL;
+#endif
+      info_ptr->valid &= ~PNG_INFO_sCAL;
+   }
+#endif
+
+#if defined(PNG_pCAL_SUPPORTED)
+   /* Free any pCAL entry */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_PCAL) & info_ptr->free_me)
+#else
+   if (mask & PNG_FREE_PCAL)
+#endif
+   {
+      png_free(png_ptr, info_ptr->pcal_purpose);
+      png_free(png_ptr, info_ptr->pcal_units);
+      info_ptr->pcal_purpose = NULL;
+      info_ptr->pcal_units = NULL;
+      if (info_ptr->pcal_params != NULL)
+         {
+            int i;
+            for (i = 0; i < (int)info_ptr->pcal_nparams; i++)
+            {
+               png_free(png_ptr, info_ptr->pcal_params[i]);
+               info_ptr->pcal_params[i]=NULL;
+            }
+            png_free(png_ptr, info_ptr->pcal_params);
+            info_ptr->pcal_params = NULL;
+         }
+      info_ptr->valid &= ~PNG_INFO_pCAL;
+   }
+#endif
+
+#if defined(PNG_iCCP_SUPPORTED)
+   /* Free any iCCP entry */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_ICCP) & info_ptr->free_me)
+#else
+   if (mask & PNG_FREE_ICCP)
+#endif
+   {
+      png_free(png_ptr, info_ptr->iccp_name);
+      png_free(png_ptr, info_ptr->iccp_profile);
+      info_ptr->iccp_name = NULL;
+      info_ptr->iccp_profile = NULL;
+      info_ptr->valid &= ~PNG_INFO_iCCP;
+   }
+#endif
+
+#if defined(PNG_sPLT_SUPPORTED)
+   /* Free a given sPLT entry, or (if num == -1) all sPLT entries */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_SPLT) & info_ptr->free_me)
+#else
+   if (mask & PNG_FREE_SPLT)
+#endif
+   {
+      if (num != -1)
+      {
+         if (info_ptr->splt_palettes)
+         {
+            png_free(png_ptr, info_ptr->splt_palettes[num].name);
+            png_free(png_ptr, info_ptr->splt_palettes[num].entries);
+            info_ptr->splt_palettes[num].name = NULL;
+            info_ptr->splt_palettes[num].entries = NULL;
+         }
+      }
+      else
+      {
+         if (info_ptr->splt_palettes_num)
+         {
+            int i;
+            for (i = 0; i < (int)info_ptr->splt_palettes_num; i++)
+               png_free_data(png_ptr, info_ptr, PNG_FREE_SPLT, i);
+
+            png_free(png_ptr, info_ptr->splt_palettes);
+            info_ptr->splt_palettes = NULL;
+            info_ptr->splt_palettes_num = 0;
+         }
+         info_ptr->valid &= ~PNG_INFO_sPLT;
+      }
+   }
+#endif
+
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+   if (png_ptr->unknown_chunk.data)
+   {
+      png_free(png_ptr, png_ptr->unknown_chunk.data);
+      png_ptr->unknown_chunk.data = NULL;
+   }
+
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_UNKN) & info_ptr->free_me)
+#else
+   if (mask & PNG_FREE_UNKN)
+#endif
+   {
+      if (num != -1)
+      {
+          if (info_ptr->unknown_chunks)
+          {
+             png_free(png_ptr, info_ptr->unknown_chunks[num].data);
+             info_ptr->unknown_chunks[num].data = NULL;
+          }
+      }
+      else
+      {
+         int i;
+
+         if (info_ptr->unknown_chunks_num)
+         {
+            for (i = 0; i < (int)info_ptr->unknown_chunks_num; i++)
+               png_free_data(png_ptr, info_ptr, PNG_FREE_UNKN, i);
+
+            png_free(png_ptr, info_ptr->unknown_chunks);
+            info_ptr->unknown_chunks = NULL;
+            info_ptr->unknown_chunks_num = 0;
+         }
+      }
+   }
+#endif
+
+#if defined(PNG_hIST_SUPPORTED)
+   /* Free any hIST entry */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_HIST)  & info_ptr->free_me)
+#else
+   if ((mask & PNG_FREE_HIST) && (png_ptr->flags & PNG_FLAG_FREE_HIST))
+#endif
+   {
+      png_free(png_ptr, info_ptr->hist);
+      info_ptr->hist = NULL;
+      info_ptr->valid &= ~PNG_INFO_hIST;
+#ifndef PNG_FREE_ME_SUPPORTED
+      png_ptr->flags &= ~PNG_FLAG_FREE_HIST;
+#endif
+   }
+#endif
+
+   /* Free any PLTE entry that was internally allocated */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_PLTE) & info_ptr->free_me)
+#else
+   if ((mask & PNG_FREE_PLTE) && (png_ptr->flags & PNG_FLAG_FREE_PLTE))
+#endif
+   {
+      png_zfree(png_ptr, info_ptr->palette);
+      info_ptr->palette = NULL;
+      info_ptr->valid &= ~PNG_INFO_PLTE;
+#ifndef PNG_FREE_ME_SUPPORTED
+      png_ptr->flags &= ~PNG_FLAG_FREE_PLTE;
+#endif
+      info_ptr->num_palette = 0;
+   }
+
+#if defined(PNG_INFO_IMAGE_SUPPORTED)
+   /* Free any image bits attached to the info structure */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_ROWS) & info_ptr->free_me)
+#else
+   if (mask & PNG_FREE_ROWS)
+#endif
+   {
+      if (info_ptr->row_pointers)
+      {
+         int row;
+         for (row = 0; row < (int)info_ptr->height; row++)
+         {
+            png_free(png_ptr, info_ptr->row_pointers[row]);
+            info_ptr->row_pointers[row]=NULL;
+         }
+         png_free(png_ptr, info_ptr->row_pointers);
+         info_ptr->row_pointers=NULL;
+      }
+      info_ptr->valid &= ~PNG_INFO_IDAT;
+   }
+#endif
+
+#ifdef PNG_FREE_ME_SUPPORTED
+   if (num == -1)
+      info_ptr->free_me &= ~mask;
+   else
+      info_ptr->free_me &= ~(mask & ~PNG_FREE_MUL);
+#endif
+}
+
+/* This is an internal routine to free any memory that the info struct is
+ * pointing to before re-using it or freeing the struct itself.  Recall
+ * that png_free() checks for NULL pointers for us.
+ */
+void /* PRIVATE */
+png_info_destroy(png_structp png_ptr, png_infop info_ptr)
+{
+   png_debug(1, "in png_info_destroy");
+
+   png_free_data(png_ptr, info_ptr, PNG_FREE_ALL, -1);
+
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+   if (png_ptr->num_chunk_list)
+   {
+      png_free(png_ptr, png_ptr->chunk_list);
+      png_ptr->chunk_list=NULL;
+      png_ptr->num_chunk_list = 0;
+   }
+#endif
+
+   png_info_init_3(&info_ptr, png_sizeof(png_info));
+}
+#endif /* defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED) */
+
+/* This function returns a pointer to the io_ptr associated with the user
+ * functions.  The application should free any memory associated with this
+ * pointer before png_write_destroy() or png_read_destroy() are called.
+ */
+png_voidp PNGAPI
+png_get_io_ptr(png_structp png_ptr)
+{
+   if (png_ptr == NULL)
+      return (NULL);
+   return (png_ptr->io_ptr);
+}
+
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+#if !defined(PNG_NO_STDIO)
+/* Initialize the default input/output functions for the PNG file.  If you
+ * use your own read or write routines, you can call either png_set_read_fn()
+ * or png_set_write_fn() instead of png_init_io().  If you have defined
+ * PNG_NO_STDIO, you must use a function of your own because "FILE *" isn't
+ * necessarily available.
+ */
+void PNGAPI
+png_init_io(png_structp png_ptr, png_FILE_p fp)
+{
+   png_debug(1, "in png_init_io");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->io_ptr = (png_voidp)fp;
+}
+#endif
+
+#if defined(PNG_TIME_RFC1123_SUPPORTED)
+/* Convert the supplied time into an RFC 1123 string suitable for use in
+ * a "Creation Time" or other text-based time string.
+ */
+png_charp PNGAPI
+png_convert_to_rfc1123(png_structp png_ptr, png_timep ptime)
+{
+   static PNG_CONST char short_months[12][4] =
+        {"Jan", "Feb", "Mar", "Apr", "May", "Jun",
+         "Jul", "Aug", "Sep", "Oct", "Nov", "Dec"};
+
+   if (png_ptr == NULL)
+      return (NULL);
+   if (png_ptr->time_buffer == NULL)
+   {
+      png_ptr->time_buffer = (png_charp)png_malloc(png_ptr, (png_uint_32)(29*
+         png_sizeof(char)));
+   }
+
+#if defined(_WIN32_WCE)
+   {
+      wchar_t time_buf[29];
+      wsprintf(time_buf, TEXT("%d %S %d %02d:%02d:%02d +0000"),
+          ptime->day % 32, short_months[(ptime->month - 1) % 12],
+        ptime->year, ptime->hour % 24, ptime->minute % 60,
+          ptime->second % 61);
+      WideCharToMultiByte(CP_ACP, 0, time_buf, -1, png_ptr->time_buffer, 29,
+          NULL, NULL);
+   }
+#else
+#ifdef USE_FAR_KEYWORD
+   {
+      char near_time_buf[29];
+      png_snprintf6(near_time_buf, 29, "%d %s %d %02d:%02d:%02d +0000",
+          ptime->day % 32, short_months[(ptime->month - 1) % 12],
+          ptime->year, ptime->hour % 24, ptime->minute % 60,
+          ptime->second % 61);
+      png_memcpy(png_ptr->time_buffer, near_time_buf,
+          29*png_sizeof(char));
+   }
+#else
+   png_snprintf6(png_ptr->time_buffer, 29, "%d %s %d %02d:%02d:%02d +0000",
+       ptime->day % 32, short_months[(ptime->month - 1) % 12],
+       ptime->year, ptime->hour % 24, ptime->minute % 60,
+       ptime->second % 61);
+#endif
+#endif /* _WIN32_WCE */
+   return ((png_charp)png_ptr->time_buffer);
+}
+#endif /* PNG_TIME_RFC1123_SUPPORTED */
+
+#endif /* defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED) */
+
+png_charp PNGAPI
+png_get_copyright(png_structp png_ptr)
+{
+   png_ptr = png_ptr;  /* Silence compiler warning about unused png_ptr */
+   return ((png_charp) "\n libpng version 1.2.37 - June 4, 2009\n\
+   Copyright (c) 1998-2009 Glenn Randers-Pehrson\n\
+   Copyright (c) 1996-1997 Andreas Dilger\n\
+   Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.\n");
+}
+
+/* The following return the library version as a short string in the
+ * format 1.0.0 through 99.99.99zz.  To get the version of *.h files
+ * used with your application, print out PNG_LIBPNG_VER_STRING, which
+ * is defined in png.h.
+ * Note: now there is no difference between png_get_libpng_ver() and
+ * png_get_header_ver().  Due to the version_nn_nn_nn typedef guard,
+ * it is guaranteed that png.c uses the correct version of png.h.
+ */
+png_charp PNGAPI
+png_get_libpng_ver(png_structp png_ptr)
+{
+   /* Version of *.c files used when building libpng */
+   png_ptr = png_ptr;  /* Silence compiler warning about unused png_ptr */
+   return ((png_charp) PNG_LIBPNG_VER_STRING);
+}
+
+png_charp PNGAPI
+png_get_header_ver(png_structp png_ptr)
+{
+   /* Version of *.h files used when building libpng */
+   png_ptr = png_ptr;  /* Silence compiler warning about unused png_ptr */
+   return ((png_charp) PNG_LIBPNG_VER_STRING);
+}
+
+png_charp PNGAPI
+png_get_header_version(png_structp png_ptr)
+{
+   /* Returns longer string containing both version and date */
+   png_ptr = png_ptr;  /* Silence compiler warning about unused png_ptr */
+   return ((png_charp) PNG_HEADER_VERSION_STRING
+#ifndef PNG_READ_SUPPORTED
+   "     (NO READ SUPPORT)"
+#endif
+   "\n");
+}
+
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+#ifdef PNG_HANDLE_AS_UNKNOWN_SUPPORTED
+int PNGAPI
+png_handle_as_unknown(png_structp png_ptr, png_bytep chunk_name)
+{
+   /* Check chunk_name and return "keep" value if it's on the list, else 0 */
+   int i;
+   png_bytep p;
+   if (png_ptr == NULL || chunk_name == NULL || png_ptr->num_chunk_list<=0)
+      return 0;
+   p = png_ptr->chunk_list + png_ptr->num_chunk_list*5 - 5;
+   for (i = png_ptr->num_chunk_list; i; i--, p -= 5)
+      if (!png_memcmp(chunk_name, p, 4))
+        return ((int)*(p + 4));
+   return 0;
+}
+#endif
+
+/* This function, added to libpng-1.0.6g, is untested. */
+int PNGAPI
+png_reset_zstream(png_structp png_ptr)
+{
+   if (png_ptr == NULL)
+      return Z_STREAM_ERROR;
+   return (inflateReset(&png_ptr->zstream));
+}
+#endif /* defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED) */
+
+/* This function was added to libpng-1.0.7 */
+png_uint_32 PNGAPI
+png_access_version_number(void)
+{
+   /* Version of *.c files used when building libpng */
+   return((png_uint_32) PNG_LIBPNG_VER);
+}
+
+
+#if defined(PNG_READ_SUPPORTED) && defined(PNG_ASSEMBLER_CODE_SUPPORTED)
+#if !defined(PNG_1_0_X)
+/* This function was added to libpng 1.2.0 */
+int PNGAPI
+png_mmx_support(void)
+{
+   /* Obsolete, to be removed from libpng-1.4.0 */
+    return -1;
+}
+#endif /* PNG_1_0_X */
+#endif /* PNG_READ_SUPPORTED && PNG_ASSEMBLER_CODE_SUPPORTED */
+
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+#ifdef PNG_SIZE_T
+/* Added at libpng version 1.2.6 */
+   PNG_EXTERN png_size_t PNGAPI png_convert_size PNGARG((size_t size));
+png_size_t PNGAPI
+png_convert_size(size_t size)
+{
+   if (size > (png_size_t)-1)
+      PNG_ABORT();  /* We haven't got access to png_ptr, so no png_error() */
+   return ((png_size_t)size);
+}
+#endif /* PNG_SIZE_T */
+
+/* Added at libpng version 1.2.34 and 1.4.0 (moved from pngset.c) */
+#if defined(PNG_cHRM_SUPPORTED)
+#if !defined(PNG_NO_CHECK_cHRM)
+
+/*
+ *    Multiply two 32-bit numbers, V1 and V2, using 32-bit
+ *    arithmetic, to produce a 64 bit result in the HI/LO words.
+ *
+ *                  A B
+ *                x C D
+ *               ------
+ *              AD || BD
+ *        AC || CB || 0
+ *
+ *    where A and B are the high and low 16-bit words of V1,
+ *    C and D are the 16-bit words of V2, AD is the product of
+ *    A and D, and X || Y is (X << 16) + Y.
+*/
+
+void png_64bit_product (long v1, long v2, unsigned long *hi_product,
+   unsigned long *lo_product)
+{
+   int a, b, c, d;
+   long lo, hi, x, y;
+
+   a = (v1 >> 16) & 0xffff;
+   b = v1 & 0xffff;
+   c = (v2 >> 16) & 0xffff;
+   d = v2 & 0xffff;
+
+   lo = b * d;                   /* BD */
+   x = a * d + c * b;            /* AD + CB */
+   y = ((lo >> 16) & 0xffff) + x;
+
+   lo = (lo & 0xffff) | ((y & 0xffff) << 16);
+   hi = (y >> 16) & 0xffff;
+
+   hi += a * c;                  /* AC */
+
+   *hi_product = (unsigned long)hi;
+   *lo_product = (unsigned long)lo;
+}
+
+int /* private */
+png_check_cHRM_fixed(png_structp png_ptr,
+   png_fixed_point white_x, png_fixed_point white_y, png_fixed_point red_x,
+   png_fixed_point red_y, png_fixed_point green_x, png_fixed_point green_y,
+   png_fixed_point blue_x, png_fixed_point blue_y)
+{
+   int ret = 1;
+   unsigned long xy_hi,xy_lo,yx_hi,yx_lo;
+
+   png_debug(1, "in function png_check_cHRM_fixed");
+   if (png_ptr == NULL)
+      return 0;
+
+   if (white_x < 0 || white_y <= 0 ||
+         red_x < 0 ||   red_y <  0 ||
+       green_x < 0 || green_y <  0 ||
+        blue_x < 0 ||  blue_y <  0)
+   {
+      png_warning(png_ptr,
+        "Ignoring attempt to set negative chromaticity value");
+      ret = 0;
+   }
+   if (white_x > (png_fixed_point) PNG_UINT_31_MAX ||
+       white_y > (png_fixed_point) PNG_UINT_31_MAX ||
+         red_x > (png_fixed_point) PNG_UINT_31_MAX ||
+         red_y > (png_fixed_point) PNG_UINT_31_MAX ||
+       green_x > (png_fixed_point) PNG_UINT_31_MAX ||
+       green_y > (png_fixed_point) PNG_UINT_31_MAX ||
+        blue_x > (png_fixed_point) PNG_UINT_31_MAX ||
+        blue_y > (png_fixed_point) PNG_UINT_31_MAX )
+   {
+      png_warning(png_ptr,
+        "Ignoring attempt to set chromaticity value exceeding 21474.83");
+      ret = 0;
+   }
+   if (white_x > 100000L - white_y)
+   {
+      png_warning(png_ptr, "Invalid cHRM white point");
+      ret = 0;
+   }
+   if (red_x > 100000L - red_y)
+   {
+      png_warning(png_ptr, "Invalid cHRM red point");
+      ret = 0;
+   }
+   if (green_x > 100000L - green_y)
+   {
+      png_warning(png_ptr, "Invalid cHRM green point");
+      ret = 0;
+   }
+   if (blue_x > 100000L - blue_y)
+   {
+      png_warning(png_ptr, "Invalid cHRM blue point");
+      ret = 0;
+   }
+
+   png_64bit_product(green_x - red_x, blue_y - red_y, &xy_hi, &xy_lo);
+   png_64bit_product(green_y - red_y, blue_x - red_x, &yx_hi, &yx_lo);
+
+   if (xy_hi == yx_hi && xy_lo == yx_lo)
+   {
+      png_warning(png_ptr,
+         "Ignoring attempt to set cHRM RGB triangle with zero area");
+      ret = 0;
+   }
+
+   return ret;
+}
+#endif /* NO_PNG_CHECK_cHRM */
+#endif /* PNG_cHRM_SUPPORTED */
+#endif /* defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED) */

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngerror.c

@@ -0,0 +1,361 @@
+
+/* pngerror.c - stub functions for i/o and memory allocation
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ *
+ * This file provides a location for all error handling.  Users who
+ * need special error handling are expected to write replacement functions
+ * and use png_set_error_fn() to use those functions.  See the instructions
+ * at each function.
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+
+static void /* PRIVATE */
+png_default_error PNGARG((png_structp png_ptr,
+  png_const_charp error_message));
+#ifndef PNG_NO_WARNINGS
+static void /* PRIVATE */
+png_default_warning PNGARG((png_structp png_ptr,
+  png_const_charp warning_message));
+#endif /* PNG_NO_WARNINGS */
+
+/* This function is called whenever there is a fatal error.  This function
+ * should not be changed.  If there is a need to handle errors differently,
+ * you should supply a replacement error function and use png_set_error_fn()
+ * to replace the error function at run-time.
+ */
+#ifndef PNG_NO_ERROR_TEXT
+void PNGAPI
+png_error(png_structp png_ptr, png_const_charp error_message)
+{
+#ifdef PNG_ERROR_NUMBERS_SUPPORTED
+   char msg[16];
+   if (png_ptr != NULL)
+   {
+     if (png_ptr->flags&
+       (PNG_FLAG_STRIP_ERROR_NUMBERS|PNG_FLAG_STRIP_ERROR_TEXT))
+     {
+       if (*error_message == '#')
+       {
+           /* Strip "#nnnn " from beginning of error message. */
+           int offset;
+           for (offset = 1; offset<15; offset++)
+              if (error_message[offset] == ' ')
+                  break;
+           if (png_ptr->flags&PNG_FLAG_STRIP_ERROR_TEXT)
+           {
+              int i;
+              for (i = 0; i < offset - 1; i++)
+                 msg[i] = error_message[i + 1];
+              msg[i - 1] = '\0';
+              error_message = msg;
+           }
+           else
+              error_message += offset;
+       }
+       else
+       {
+           if (png_ptr->flags&PNG_FLAG_STRIP_ERROR_TEXT)
+           {
+              msg[0] = '0';
+              msg[1] = '\0';
+              error_message = msg;
+           }
+       }
+     }
+   }
+#endif
+   if (png_ptr != NULL && png_ptr->error_fn != NULL)
+      (*(png_ptr->error_fn))(png_ptr, error_message);
+
+   /* If the custom handler doesn't exist, or if it returns,
+      use the default handler, which will not return. */
+   png_default_error(png_ptr, error_message);
+}
+#else
+void PNGAPI
+png_err(png_structp png_ptr)
+{
+   if (png_ptr != NULL && png_ptr->error_fn != NULL)
+      (*(png_ptr->error_fn))(png_ptr, '\0');
+
+   /* If the custom handler doesn't exist, or if it returns,
+      use the default handler, which will not return. */
+   png_default_error(png_ptr, '\0');
+}
+#endif /* PNG_NO_ERROR_TEXT */
+
+#ifndef PNG_NO_WARNINGS
+/* This function is called whenever there is a non-fatal error.  This function
+ * should not be changed.  If there is a need to handle warnings differently,
+ * you should supply a replacement warning function and use
+ * png_set_error_fn() to replace the warning function at run-time.
+ */
+void PNGAPI
+png_warning(png_structp png_ptr, png_const_charp warning_message)
+{
+   int offset = 0;
+   if (png_ptr != NULL)
+   {
+#ifdef PNG_ERROR_NUMBERS_SUPPORTED
+   if (png_ptr->flags&
+     (PNG_FLAG_STRIP_ERROR_NUMBERS|PNG_FLAG_STRIP_ERROR_TEXT))
+#endif
+     {
+       if (*warning_message == '#')
+       {
+           for (offset = 1; offset < 15; offset++)
+              if (warning_message[offset] == ' ')
+                  break;
+       }
+     }
+   }
+   if (png_ptr != NULL && png_ptr->warning_fn != NULL)
+      (*(png_ptr->warning_fn))(png_ptr, warning_message + offset);
+   else
+      png_default_warning(png_ptr, warning_message + offset);
+}
+#endif /* PNG_NO_WARNINGS */
+
+
+/* These utilities are used internally to build an error message that relates
+ * to the current chunk.  The chunk name comes from png_ptr->chunk_name,
+ * this is used to prefix the message.  The message is limited in length
+ * to 63 bytes, the name characters are output as hex digits wrapped in []
+ * if the character is invalid.
+ */
+#define isnonalpha(c) ((c) < 65 || (c) > 122 || ((c) > 90 && (c) < 97))
+static PNG_CONST char png_digit[16] = {
+   '0', '1', '2', '3', '4', '5', '6', '7', '8', '9',
+   'A', 'B', 'C', 'D', 'E', 'F'
+};
+
+#define PNG_MAX_ERROR_TEXT 64
+
+#if !defined(PNG_NO_WARNINGS) || !defined(PNG_NO_ERROR_TEXT)
+static void /* PRIVATE */
+png_format_buffer(png_structp png_ptr, png_charp buffer, png_const_charp
+   error_message)
+{
+   int iout = 0, iin = 0;
+
+   while (iin < 4)
+   {
+      int c = png_ptr->chunk_name[iin++];
+      if (isnonalpha(c))
+      {
+         buffer[iout++] = '[';
+         buffer[iout++] = png_digit[(c & 0xf0) >> 4];
+         buffer[iout++] = png_digit[c & 0x0f];
+         buffer[iout++] = ']';
+      }
+      else
+      {
+         buffer[iout++] = (png_byte)c;
+      }
+   }
+
+   if (error_message == NULL)
+      buffer[iout] = '\0';
+   else
+   {
+      buffer[iout++] = ':';
+      buffer[iout++] = ' ';
+      png_memcpy(buffer + iout, error_message, PNG_MAX_ERROR_TEXT);
+      buffer[iout + PNG_MAX_ERROR_TEXT - 1] = '\0';
+   }
+}
+
+#ifdef PNG_READ_SUPPORTED
+void PNGAPI
+png_chunk_error(png_structp png_ptr, png_const_charp error_message)
+{
+   char msg[18+PNG_MAX_ERROR_TEXT];
+   if (png_ptr == NULL)
+     png_error(png_ptr, error_message);
+   else
+   {
+     png_format_buffer(png_ptr, msg, error_message);
+     png_error(png_ptr, msg);
+   }
+}
+#endif /* PNG_READ_SUPPORTED */
+#endif /* !defined(PNG_NO_WARNINGS) || !defined(PNG_NO_ERROR_TEXT) */
+
+#ifndef PNG_NO_WARNINGS
+void PNGAPI
+png_chunk_warning(png_structp png_ptr, png_const_charp warning_message)
+{
+   char msg[18+PNG_MAX_ERROR_TEXT];
+   if (png_ptr == NULL)
+     png_warning(png_ptr, warning_message);
+   else
+   {
+     png_format_buffer(png_ptr, msg, warning_message);
+     png_warning(png_ptr, msg);
+   }
+}
+#endif /* PNG_NO_WARNINGS */
+
+
+/* This is the default error handling function.  Note that replacements for
+ * this function MUST NOT RETURN, or the program will likely crash.  This
+ * function is used by default, or if the program supplies NULL for the
+ * error function pointer in png_set_error_fn().
+ */
+static void /* PRIVATE */
+png_default_error(png_structp png_ptr, png_const_charp error_message)
+{
+#ifndef PNG_NO_CONSOLE_IO
+#ifdef PNG_ERROR_NUMBERS_SUPPORTED
+   if (*error_message == '#')
+   {
+     /* Strip "#nnnn " from beginning of error message. */
+     int offset;
+     char error_number[16];
+     for (offset = 0; offset<15; offset++)
+     {
+         error_number[offset] = error_message[offset + 1];
+         if (error_message[offset] == ' ')
+             break;
+     }
+     if ((offset > 1) && (offset < 15))
+     {
+       error_number[offset - 1] = '\0';
+       fprintf(stderr, "libpng error no. %s: %s",
+          error_number, error_message + offset + 1);
+       fprintf(stderr, PNG_STRING_NEWLINE);
+     }
+     else
+     {
+       fprintf(stderr, "libpng error: %s, offset=%d",
+          error_message, offset);
+       fprintf(stderr, PNG_STRING_NEWLINE);
+     }
+   }
+   else
+#endif
+   {
+      fprintf(stderr, "libpng error: %s", error_message);
+      fprintf(stderr, PNG_STRING_NEWLINE);
+   }
+#endif
+
+#ifdef PNG_SETJMP_SUPPORTED
+   if (png_ptr)
+   {
+#  ifdef USE_FAR_KEYWORD
+   {
+      jmp_buf jmpbuf;
+      png_memcpy(jmpbuf, png_ptr->jmpbuf, png_sizeof(jmp_buf));
+      longjmp(jmpbuf, 1);
+   }
+#  else
+   longjmp(png_ptr->jmpbuf, 1);
+#  endif
+   }
+#else
+   PNG_ABORT();
+#endif
+#ifdef PNG_NO_CONSOLE_IO
+   error_message = error_message; /* Make compiler happy */
+#endif
+}
+
+#ifndef PNG_NO_WARNINGS
+/* This function is called when there is a warning, but the library thinks
+ * it can continue anyway.  Replacement functions don't have to do anything
+ * here if you don't want them to.  In the default configuration, png_ptr is
+ * not used, but it is passed in case it may be useful.
+ */
+static void /* PRIVATE */
+png_default_warning(png_structp png_ptr, png_const_charp warning_message)
+{
+#ifndef PNG_NO_CONSOLE_IO
+#  ifdef PNG_ERROR_NUMBERS_SUPPORTED
+   if (*warning_message == '#')
+   {
+     int offset;
+     char warning_number[16];
+     for (offset = 0; offset < 15; offset++)
+     {
+        warning_number[offset] = warning_message[offset + 1];
+        if (warning_message[offset] == ' ')
+            break;
+     }
+     if ((offset > 1) && (offset < 15))
+     {
+       warning_number[offset + 1] = '\0';
+       fprintf(stderr, "libpng warning no. %s: %s",
+          warning_number, warning_message + offset);
+       fprintf(stderr, PNG_STRING_NEWLINE);
+     }
+     else
+     {
+       fprintf(stderr, "libpng warning: %s",
+          warning_message);
+       fprintf(stderr, PNG_STRING_NEWLINE);
+     }
+   }
+   else
+#  endif
+   {
+     fprintf(stderr, "libpng warning: %s", warning_message);
+     fprintf(stderr, PNG_STRING_NEWLINE);
+   }
+#else
+   warning_message = warning_message; /* Make compiler happy */
+#endif
+   png_ptr = png_ptr; /* Make compiler happy */
+}
+#endif /* PNG_NO_WARNINGS */
+
+/* This function is called when the application wants to use another method
+ * of handling errors and warnings.  Note that the error function MUST NOT
+ * return to the calling routine or serious problems will occur.  The return
+ * method used in the default routine calls longjmp(png_ptr->jmpbuf, 1)
+ */
+void PNGAPI
+png_set_error_fn(png_structp png_ptr, png_voidp error_ptr,
+   png_error_ptr error_fn, png_error_ptr warning_fn)
+{
+   if (png_ptr == NULL)
+      return;
+   png_ptr->error_ptr = error_ptr;
+   png_ptr->error_fn = error_fn;
+   png_ptr->warning_fn = warning_fn;
+}
+
+
+/* This function returns a pointer to the error_ptr associated with the user
+ * functions.  The application should free any memory associated with this
+ * pointer before png_write_destroy and png_read_destroy are called.
+ */
+png_voidp PNGAPI
+png_get_error_ptr(png_structp png_ptr)
+{
+   if (png_ptr == NULL)
+      return NULL;
+   return ((png_voidp)png_ptr->error_ptr);
+}
+
+
+#ifdef PNG_ERROR_NUMBERS_SUPPORTED
+void PNGAPI
+png_set_strip_error_numbers(png_structp png_ptr, png_uint_32 strip_mode)
+{
+   if (png_ptr != NULL)
+   {
+     png_ptr->flags &=
+       ((~(PNG_FLAG_STRIP_ERROR_NUMBERS|PNG_FLAG_STRIP_ERROR_TEXT))&strip_mode);
+   }
+}
+#endif
+#endif /* PNG_READ_SUPPORTED || PNG_WRITE_SUPPORTED */

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pnggccrd.c

@@ -0,0 +1,103 @@
+/* pnggccrd.c was removed from libpng-1.2.20. */
+
+/* This code snippet is for use by configure's compilation test. */
+
+#if (!defined _MSC_VER) && \
+    defined(PNG_ASSEMBLER_CODE_SUPPORTED) && \
+    defined(PNG_MMX_CODE_SUPPORTED)
+
+int PNGAPI png_dummy_mmx_support(void);
+
+static int _mmx_supported = 2; // 0: no MMX; 1: MMX supported; 2: not tested
+
+int PNGAPI
+png_dummy_mmx_support(void) __attribute__((noinline));
+
+int PNGAPI
+png_dummy_mmx_support(void)
+{
+   int result;
+#if defined(PNG_MMX_CODE_SUPPORTED)  // superfluous, but what the heck
+    __asm__ __volatile__ (
+#if defined(__x86_64__)
+        "pushq %%rbx          \n\t"  // rbx gets clobbered by CPUID instruction
+        "pushq %%rcx          \n\t"  // so does rcx...
+        "pushq %%rdx          \n\t"  // ...and rdx (but rcx & rdx safe on Linux)
+        "pushfq               \n\t"  // save Eflag to stack
+        "popq %%rax           \n\t"  // get Eflag from stack into rax
+        "movq %%rax, %%rcx    \n\t"  // make another copy of Eflag in rcx
+        "xorl $0x200000, %%eax \n\t" // toggle ID bit in Eflag (i.e., bit 21)
+        "pushq %%rax          \n\t"  // save modified Eflag back to stack
+        "popfq                \n\t"  // restore modified value to Eflag reg
+        "pushfq               \n\t"  // save Eflag to stack
+        "popq %%rax           \n\t"  // get Eflag from stack
+        "pushq %%rcx          \n\t"  // save original Eflag to stack
+        "popfq                \n\t"  // restore original Eflag
+#else
+        "pushl %%ebx          \n\t"  // ebx gets clobbered by CPUID instruction
+        "pushl %%ecx          \n\t"  // so does ecx...
+        "pushl %%edx          \n\t"  // ...and edx (but ecx & edx safe on Linux)
+        "pushfl               \n\t"  // save Eflag to stack
+        "popl %%eax           \n\t"  // get Eflag from stack into eax
+        "movl %%eax, %%ecx    \n\t"  // make another copy of Eflag in ecx
+        "xorl $0x200000, %%eax \n\t" // toggle ID bit in Eflag (i.e., bit 21)
+        "pushl %%eax          \n\t"  // save modified Eflag back to stack
+        "popfl                \n\t"  // restore modified value to Eflag reg
+        "pushfl               \n\t"  // save Eflag to stack
+        "popl %%eax           \n\t"  // get Eflag from stack
+        "pushl %%ecx          \n\t"  // save original Eflag to stack
+        "popfl                \n\t"  // restore original Eflag
+#endif
+        "xorl %%ecx, %%eax    \n\t"  // compare new Eflag with original Eflag
+        "jz 0f                \n\t"  // if same, CPUID instr. is not supported
+
+        "xorl %%eax, %%eax    \n\t"  // set eax to zero
+//      ".byte  0x0f, 0xa2    \n\t"  // CPUID instruction (two-byte opcode)
+        "cpuid                \n\t"  // get the CPU identification info
+        "cmpl $1, %%eax       \n\t"  // make sure eax return non-zero value
+        "jl 0f                \n\t"  // if eax is zero, MMX is not supported
+
+        "xorl %%eax, %%eax    \n\t"  // set eax to zero and...
+        "incl %%eax           \n\t"  // ...increment eax to 1.  This pair is
+                                     // faster than the instruction "mov eax, 1"
+        "cpuid                \n\t"  // get the CPU identification info again
+        "andl $0x800000, %%edx \n\t" // mask out all bits but MMX bit (23)
+        "cmpl $0, %%edx       \n\t"  // 0 = MMX not supported
+        "jz 0f                \n\t"  // non-zero = yes, MMX IS supported
+
+        "movl $1, %%eax       \n\t"  // set return value to 1
+        "jmp  1f              \n\t"  // DONE:  have MMX support
+
+    "0:                       \n\t"  // .NOT_SUPPORTED: target label for jump instructions
+        "movl $0, %%eax       \n\t"  // set return value to 0
+    "1:                       \n\t"  // .RETURN: target label for jump instructions
+#if defined(__x86_64__)
+        "popq %%rdx           \n\t"  // restore rdx
+        "popq %%rcx           \n\t"  // restore rcx
+        "popq %%rbx           \n\t"  // restore rbx
+#else
+        "popl %%edx           \n\t"  // restore edx
+        "popl %%ecx           \n\t"  // restore ecx
+        "popl %%ebx           \n\t"  // restore ebx
+#endif
+
+//      "ret                  \n\t"  // DONE:  no MMX support
+                                     // (fall through to standard C "ret")
+
+        : "=a" (result)              // output list
+
+        :                            // any variables used on input (none)
+
+                                     // no clobber list
+//      , "%ebx", "%ecx", "%edx"     // GRR:  we handle these manually
+//      , "memory"   // if write to a variable gcc thought was in a reg
+//      , "cc"       // "condition codes" (flag bits)
+    );
+    _mmx_supported = result;
+#else
+    _mmx_supported = 0;
+#endif /* PNG_MMX_CODE_SUPPORTED */
+
+    return _mmx_supported;
+}
+#endif

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngget.c

@@ -0,0 +1,939 @@
+
+/* pngget.c - retrieval of values from info struct
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+
+png_uint_32 PNGAPI
+png_get_valid(png_structp png_ptr, png_infop info_ptr, png_uint_32 flag)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return(info_ptr->valid & flag);
+
+   else
+      return(0);
+}
+
+png_uint_32 PNGAPI
+png_get_rowbytes(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return(info_ptr->rowbytes);
+
+   else
+      return(0);
+}
+
+#if defined(PNG_INFO_IMAGE_SUPPORTED)
+png_bytepp PNGAPI
+png_get_rows(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return(info_ptr->row_pointers);
+
+   else
+      return(0);
+}
+#endif
+
+#ifdef PNG_EASY_ACCESS_SUPPORTED
+/* Easy access to info, added in libpng-0.99 */
+png_uint_32 PNGAPI
+png_get_image_width(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return info_ptr->width;
+
+   return (0);
+}
+
+png_uint_32 PNGAPI
+png_get_image_height(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return info_ptr->height;
+
+   return (0);
+}
+
+png_byte PNGAPI
+png_get_bit_depth(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return info_ptr->bit_depth;
+
+   return (0);
+}
+
+png_byte PNGAPI
+png_get_color_type(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return info_ptr->color_type;
+
+   return (0);
+}
+
+png_byte PNGAPI
+png_get_filter_type(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return info_ptr->filter_type;
+
+   return (0);
+}
+
+png_byte PNGAPI
+png_get_interlace_type(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return info_ptr->interlace_type;
+
+   return (0);
+}
+
+png_byte PNGAPI
+png_get_compression_type(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return info_ptr->compression_type;
+
+   return (0);
+}
+
+png_uint_32 PNGAPI
+png_get_x_pixels_per_meter(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+#if defined(PNG_pHYs_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_pHYs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_x_pixels_per_meter");
+
+      if (info_ptr->phys_unit_type != PNG_RESOLUTION_METER)
+          return (0);
+
+      else
+          return (info_ptr->x_pixels_per_unit);
+   }
+#else
+   return (0);
+#endif
+   return (0);
+}
+
+png_uint_32 PNGAPI
+png_get_y_pixels_per_meter(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+#if defined(PNG_pHYs_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_pHYs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_y_pixels_per_meter");
+
+      if (info_ptr->phys_unit_type != PNG_RESOLUTION_METER)
+          return (0);
+
+      else
+          return (info_ptr->y_pixels_per_unit);
+   }
+#else
+   return (0);
+#endif
+   return (0);
+}
+
+png_uint_32 PNGAPI
+png_get_pixels_per_meter(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+#if defined(PNG_pHYs_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_pHYs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_pixels_per_meter");
+
+      if (info_ptr->phys_unit_type != PNG_RESOLUTION_METER ||
+         info_ptr->x_pixels_per_unit != info_ptr->y_pixels_per_unit)
+          return (0);
+
+      else
+          return (info_ptr->x_pixels_per_unit);
+   }
+#else
+   return (0);
+#endif
+   return (0);
+}
+
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+float PNGAPI
+png_get_pixel_aspect_ratio(png_structp png_ptr, png_infop info_ptr)
+   {
+   if (png_ptr != NULL && info_ptr != NULL)
+#if defined(PNG_pHYs_SUPPORTED)
+
+   if (info_ptr->valid & PNG_INFO_pHYs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_aspect_ratio");
+      if (info_ptr->x_pixels_per_unit == 0)
+         return ((float)0.0);
+      else
+         return ((float)((float)info_ptr->y_pixels_per_unit
+            /(float)info_ptr->x_pixels_per_unit));
+   }
+#else
+      return (0.0);
+#endif
+   return ((float)0.0);
+}
+#endif
+
+png_int_32 PNGAPI
+png_get_x_offset_microns(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+#if defined(PNG_oFFs_SUPPORTED)
+
+   if (info_ptr->valid & PNG_INFO_oFFs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_x_offset_microns");
+
+      if (info_ptr->offset_unit_type != PNG_OFFSET_MICROMETER)
+          return (0);
+
+      else
+          return (info_ptr->x_offset);
+   }
+#else
+      return (0);
+#endif
+   return (0);
+}
+
+png_int_32 PNGAPI
+png_get_y_offset_microns(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+
+#if defined(PNG_oFFs_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_oFFs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_y_offset_microns");
+
+      if (info_ptr->offset_unit_type != PNG_OFFSET_MICROMETER)
+          return (0);
+
+      else
+          return (info_ptr->y_offset);
+   }
+#else
+   return (0);
+#endif
+   return (0);
+}
+
+png_int_32 PNGAPI
+png_get_x_offset_pixels(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+
+#if defined(PNG_oFFs_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_oFFs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_x_offset_microns");
+
+      if (info_ptr->offset_unit_type != PNG_OFFSET_PIXEL)
+          return (0);
+
+      else
+          return (info_ptr->x_offset);
+   }
+#else
+   return (0);
+#endif
+   return (0);
+}
+
+png_int_32 PNGAPI
+png_get_y_offset_pixels(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+
+#if defined(PNG_oFFs_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_oFFs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_y_offset_microns");
+
+      if (info_ptr->offset_unit_type != PNG_OFFSET_PIXEL)
+          return (0);
+
+      else
+          return (info_ptr->y_offset);
+   }
+#else
+   return (0);
+#endif
+   return (0);
+}
+
+#if defined(PNG_INCH_CONVERSIONS) && defined(PNG_FLOATING_POINT_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_pixels_per_inch(png_structp png_ptr, png_infop info_ptr)
+{
+   return ((png_uint_32)((float)png_get_pixels_per_meter(png_ptr, info_ptr)
+     *.0254 +.5));
+}
+
+png_uint_32 PNGAPI
+png_get_x_pixels_per_inch(png_structp png_ptr, png_infop info_ptr)
+{
+   return ((png_uint_32)((float)png_get_x_pixels_per_meter(png_ptr, info_ptr)
+     *.0254 +.5));
+}
+
+png_uint_32 PNGAPI
+png_get_y_pixels_per_inch(png_structp png_ptr, png_infop info_ptr)
+{
+   return ((png_uint_32)((float)png_get_y_pixels_per_meter(png_ptr, info_ptr)
+     *.0254 +.5));
+}
+
+float PNGAPI
+png_get_x_offset_inches(png_structp png_ptr, png_infop info_ptr)
+{
+   return ((float)png_get_x_offset_microns(png_ptr, info_ptr)
+     *.00003937);
+}
+
+float PNGAPI
+png_get_y_offset_inches(png_structp png_ptr, png_infop info_ptr)
+{
+   return ((float)png_get_y_offset_microns(png_ptr, info_ptr)
+     *.00003937);
+}
+
+#if defined(PNG_pHYs_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_pHYs_dpi(png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 *res_x, png_uint_32 *res_y, int *unit_type)
+{
+   png_uint_32 retval = 0;
+
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_pHYs))
+   {
+      png_debug1(1, "in %s retrieval function", "pHYs");
+      if (res_x != NULL)
+      {
+         *res_x = info_ptr->x_pixels_per_unit;
+         retval |= PNG_INFO_pHYs;
+      }
+      if (res_y != NULL)
+      {
+         *res_y = info_ptr->y_pixels_per_unit;
+         retval |= PNG_INFO_pHYs;
+      }
+      if (unit_type != NULL)
+      {
+         *unit_type = (int)info_ptr->phys_unit_type;
+         retval |= PNG_INFO_pHYs;
+         if (*unit_type == 1)
+         {
+            if (res_x != NULL) *res_x = (png_uint_32)(*res_x * .0254 + .50);
+            if (res_y != NULL) *res_y = (png_uint_32)(*res_y * .0254 + .50);
+         }
+      }
+   }
+   return (retval);
+}
+#endif /* PNG_pHYs_SUPPORTED */
+#endif  /* PNG_INCH_CONVERSIONS && PNG_FLOATING_POINT_SUPPORTED */
+
+/* png_get_channels really belongs in here, too, but it's been around longer */
+
+#endif  /* PNG_EASY_ACCESS_SUPPORTED */
+
+png_byte PNGAPI
+png_get_channels(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return(info_ptr->channels);
+   else
+      return (0);
+}
+
+png_bytep PNGAPI
+png_get_signature(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return(info_ptr->signature);
+   else
+      return (NULL);
+}
+
+#if defined(PNG_bKGD_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_bKGD(png_structp png_ptr, png_infop info_ptr,
+   png_color_16p *background)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_bKGD)
+      && background != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "bKGD");
+      *background = &(info_ptr->background);
+      return (PNG_INFO_bKGD);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_cHRM_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+png_uint_32 PNGAPI
+png_get_cHRM(png_structp png_ptr, png_infop info_ptr,
+   double *white_x, double *white_y, double *red_x, double *red_y,
+   double *green_x, double *green_y, double *blue_x, double *blue_y)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_cHRM))
+   {
+      png_debug1(1, "in %s retrieval function", "cHRM");
+      if (white_x != NULL)
+         *white_x = (double)info_ptr->x_white;
+      if (white_y != NULL)
+         *white_y = (double)info_ptr->y_white;
+      if (red_x != NULL)
+         *red_x = (double)info_ptr->x_red;
+      if (red_y != NULL)
+         *red_y = (double)info_ptr->y_red;
+      if (green_x != NULL)
+         *green_x = (double)info_ptr->x_green;
+      if (green_y != NULL)
+         *green_y = (double)info_ptr->y_green;
+      if (blue_x != NULL)
+         *blue_x = (double)info_ptr->x_blue;
+      if (blue_y != NULL)
+         *blue_y = (double)info_ptr->y_blue;
+      return (PNG_INFO_cHRM);
+   }
+   return (0);
+}
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+png_uint_32 PNGAPI
+png_get_cHRM_fixed(png_structp png_ptr, png_infop info_ptr,
+   png_fixed_point *white_x, png_fixed_point *white_y, png_fixed_point *red_x,
+   png_fixed_point *red_y, png_fixed_point *green_x, png_fixed_point *green_y,
+   png_fixed_point *blue_x, png_fixed_point *blue_y)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_cHRM))
+   {
+      png_debug1(1, "in %s retrieval function", "cHRM");
+      if (white_x != NULL)
+         *white_x = info_ptr->int_x_white;
+      if (white_y != NULL)
+         *white_y = info_ptr->int_y_white;
+      if (red_x != NULL)
+         *red_x = info_ptr->int_x_red;
+      if (red_y != NULL)
+         *red_y = info_ptr->int_y_red;
+      if (green_x != NULL)
+         *green_x = info_ptr->int_x_green;
+      if (green_y != NULL)
+         *green_y = info_ptr->int_y_green;
+      if (blue_x != NULL)
+         *blue_x = info_ptr->int_x_blue;
+      if (blue_y != NULL)
+         *blue_y = info_ptr->int_y_blue;
+      return (PNG_INFO_cHRM);
+   }
+   return (0);
+}
+#endif
+#endif
+
+#if defined(PNG_gAMA_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+png_uint_32 PNGAPI
+png_get_gAMA(png_structp png_ptr, png_infop info_ptr, double *file_gamma)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_gAMA)
+      && file_gamma != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "gAMA");
+      *file_gamma = (double)info_ptr->gamma;
+      return (PNG_INFO_gAMA);
+   }
+   return (0);
+}
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+png_uint_32 PNGAPI
+png_get_gAMA_fixed(png_structp png_ptr, png_infop info_ptr,
+    png_fixed_point *int_file_gamma)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_gAMA)
+      && int_file_gamma != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "gAMA");
+      *int_file_gamma = info_ptr->int_gamma;
+      return (PNG_INFO_gAMA);
+   }
+   return (0);
+}
+#endif
+#endif
+
+#if defined(PNG_sRGB_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_sRGB(png_structp png_ptr, png_infop info_ptr, int *file_srgb_intent)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_sRGB)
+      && file_srgb_intent != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "sRGB");
+      *file_srgb_intent = (int)info_ptr->srgb_intent;
+      return (PNG_INFO_sRGB);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_iCCP_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_iCCP(png_structp png_ptr, png_infop info_ptr,
+             png_charpp name, int *compression_type,
+             png_charpp profile, png_uint_32 *proflen)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_iCCP)
+      && name != NULL && profile != NULL && proflen != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "iCCP");
+      *name = info_ptr->iccp_name;
+      *profile = info_ptr->iccp_profile;
+      /* Compression_type is a dummy so the API won't have to change
+       * if we introduce multiple compression types later.
+       */
+      *proflen = (int)info_ptr->iccp_proflen;
+      *compression_type = (int)info_ptr->iccp_compression;
+      return (PNG_INFO_iCCP);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_sPLT_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_sPLT(png_structp png_ptr, png_infop info_ptr,
+             png_sPLT_tpp spalettes)
+{
+   if (png_ptr != NULL && info_ptr != NULL && spalettes != NULL)
+   {
+     *spalettes = info_ptr->splt_palettes;
+     return ((png_uint_32)info_ptr->splt_palettes_num);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_hIST_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_hIST(png_structp png_ptr, png_infop info_ptr, png_uint_16p *hist)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_hIST)
+      && hist != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "hIST");
+      *hist = info_ptr->hist;
+      return (PNG_INFO_hIST);
+   }
+   return (0);
+}
+#endif
+
+png_uint_32 PNGAPI
+png_get_IHDR(png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 *width, png_uint_32 *height, int *bit_depth,
+   int *color_type, int *interlace_type, int *compression_type,
+   int *filter_type)
+
+{
+   if (png_ptr != NULL && info_ptr != NULL && width != NULL && height != NULL &&
+      bit_depth != NULL && color_type != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "IHDR");
+      *width = info_ptr->width;
+      *height = info_ptr->height;
+      *bit_depth = info_ptr->bit_depth;
+      if (info_ptr->bit_depth < 1 || info_ptr->bit_depth > 16)
+         png_error(png_ptr, "Invalid bit depth");
+
+      *color_type = info_ptr->color_type;
+
+      if (info_ptr->color_type > 6)
+         png_error(png_ptr, "Invalid color type");
+
+      if (compression_type != NULL)
+         *compression_type = info_ptr->compression_type;
+
+      if (filter_type != NULL)
+         *filter_type = info_ptr->filter_type;
+
+      if (interlace_type != NULL)
+         *interlace_type = info_ptr->interlace_type;
+
+      /* Check for potential overflow of rowbytes */
+      if (*width == 0 || *width > PNG_UINT_31_MAX)
+        png_error(png_ptr, "Invalid image width");
+
+      if (*height == 0 || *height > PNG_UINT_31_MAX)
+        png_error(png_ptr, "Invalid image height");
+
+      if (info_ptr->width > (PNG_UINT_32_MAX
+                 >> 3)      /* 8-byte RGBA pixels */
+                 - 64       /* bigrowbuf hack */
+                 - 1        /* filter byte */
+                 - 7*8      /* rounding of width to multiple of 8 pixels */
+                 - 8)       /* extra max_pixel_depth pad */
+      {
+         png_warning(png_ptr,
+            "Width too large for libpng to process image data.");
+      }
+
+      return (1);
+   }
+   return (0);
+}
+
+#if defined(PNG_oFFs_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_oFFs(png_structp png_ptr, png_infop info_ptr,
+   png_int_32 *offset_x, png_int_32 *offset_y, int *unit_type)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_oFFs)
+      && offset_x != NULL && offset_y != NULL && unit_type != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "oFFs");
+      *offset_x = info_ptr->x_offset;
+      *offset_y = info_ptr->y_offset;
+      *unit_type = (int)info_ptr->offset_unit_type;
+      return (PNG_INFO_oFFs);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_pCAL_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_pCAL(png_structp png_ptr, png_infop info_ptr,
+   png_charp *purpose, png_int_32 *X0, png_int_32 *X1, int *type, int *nparams,
+   png_charp *units, png_charpp *params)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_pCAL)
+       && purpose != NULL && X0 != NULL && X1 != NULL && type != NULL &&
+       nparams != NULL && units != NULL && params != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "pCAL");
+      *purpose = info_ptr->pcal_purpose;
+      *X0 = info_ptr->pcal_X0;
+      *X1 = info_ptr->pcal_X1;
+      *type = (int)info_ptr->pcal_type;
+      *nparams = (int)info_ptr->pcal_nparams;
+      *units = info_ptr->pcal_units;
+      *params = info_ptr->pcal_params;
+      return (PNG_INFO_pCAL);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_sCAL_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+png_uint_32 PNGAPI
+png_get_sCAL(png_structp png_ptr, png_infop info_ptr,
+             int *unit, double *width, double *height)
+{
+    if (png_ptr != NULL && info_ptr != NULL &&
+        (info_ptr->valid & PNG_INFO_sCAL))
+    {
+        *unit = info_ptr->scal_unit;
+        *width = info_ptr->scal_pixel_width;
+        *height = info_ptr->scal_pixel_height;
+        return (PNG_INFO_sCAL);
+    }
+    return(0);
+}
+#else
+#ifdef PNG_FIXED_POINT_SUPPORTED
+png_uint_32 PNGAPI
+png_get_sCAL_s(png_structp png_ptr, png_infop info_ptr,
+             int *unit, png_charpp width, png_charpp height)
+{
+    if (png_ptr != NULL && info_ptr != NULL &&
+        (info_ptr->valid & PNG_INFO_sCAL))
+    {
+        *unit = info_ptr->scal_unit;
+        *width = info_ptr->scal_s_width;
+        *height = info_ptr->scal_s_height;
+        return (PNG_INFO_sCAL);
+    }
+    return(0);
+}
+#endif
+#endif
+#endif
+
+#if defined(PNG_pHYs_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_pHYs(png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 *res_x, png_uint_32 *res_y, int *unit_type)
+{
+   png_uint_32 retval = 0;
+
+   if (png_ptr != NULL && info_ptr != NULL &&
+      (info_ptr->valid & PNG_INFO_pHYs))
+   {
+      png_debug1(1, "in %s retrieval function", "pHYs");
+
+      if (res_x != NULL)
+      {
+         *res_x = info_ptr->x_pixels_per_unit;
+         retval |= PNG_INFO_pHYs;
+      }
+
+      if (res_y != NULL)
+      {
+         *res_y = info_ptr->y_pixels_per_unit;
+         retval |= PNG_INFO_pHYs;
+      }
+
+      if (unit_type != NULL)
+      {
+         *unit_type = (int)info_ptr->phys_unit_type;
+         retval |= PNG_INFO_pHYs;
+      }
+   }
+   return (retval);
+}
+#endif
+
+png_uint_32 PNGAPI
+png_get_PLTE(png_structp png_ptr, png_infop info_ptr, png_colorp *palette,
+   int *num_palette)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_PLTE)
+       && palette != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "PLTE");
+      *palette = info_ptr->palette;
+      *num_palette = info_ptr->num_palette;
+      png_debug1(3, "num_palette = %d", *num_palette);
+      return (PNG_INFO_PLTE);
+   }
+   return (0);
+}
+
+#if defined(PNG_sBIT_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_sBIT(png_structp png_ptr, png_infop info_ptr, png_color_8p *sig_bit)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_sBIT)
+      && sig_bit != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "sBIT");
+      *sig_bit = &(info_ptr->sig_bit);
+      return (PNG_INFO_sBIT);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_TEXT_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_text(png_structp png_ptr, png_infop info_ptr, png_textp *text_ptr,
+   int *num_text)
+{
+   if (png_ptr != NULL && info_ptr != NULL && info_ptr->num_text > 0)
+   {
+      png_debug1(1, "in %s retrieval function",
+         (png_ptr->chunk_name[0] == '\0' ? "text"
+             : (png_const_charp)png_ptr->chunk_name));
+
+      if (text_ptr != NULL)
+         *text_ptr = info_ptr->text;
+
+      if (num_text != NULL)
+         *num_text = info_ptr->num_text;
+
+      return ((png_uint_32)info_ptr->num_text);
+   }
+   if (num_text != NULL)
+     *num_text = 0;
+   return(0);
+}
+#endif
+
+#if defined(PNG_tIME_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_tIME(png_structp png_ptr, png_infop info_ptr, png_timep *mod_time)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_tIME)
+       && mod_time != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "tIME");
+      *mod_time = &(info_ptr->mod_time);
+      return (PNG_INFO_tIME);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_tRNS_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_tRNS(png_structp png_ptr, png_infop info_ptr,
+   png_bytep *trans, int *num_trans, png_color_16p *trans_values)
+{
+   png_uint_32 retval = 0;
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_tRNS))
+   {
+      png_debug1(1, "in %s retrieval function", "tRNS");
+      if (info_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+      {
+          if (trans != NULL)
+          {
+             *trans = info_ptr->trans;
+             retval |= PNG_INFO_tRNS;
+          }
+
+          if (trans_values != NULL)
+             *trans_values = &(info_ptr->trans_values);
+      }
+      else /* if (info_ptr->color_type != PNG_COLOR_TYPE_PALETTE) */
+      {
+          if (trans_values != NULL)
+          {
+             *trans_values = &(info_ptr->trans_values);
+             retval |= PNG_INFO_tRNS;
+          }
+
+          if (trans != NULL)
+             *trans = NULL;
+      }
+      if (num_trans != NULL)
+      {
+         *num_trans = info_ptr->num_trans;
+         retval |= PNG_INFO_tRNS;
+      }
+   }
+   return (retval);
+}
+#endif
+
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_unknown_chunks(png_structp png_ptr, png_infop info_ptr,
+             png_unknown_chunkpp unknowns)
+{
+   if (png_ptr != NULL && info_ptr != NULL && unknowns != NULL)
+   {
+     *unknowns = info_ptr->unknown_chunks;
+     return ((png_uint_32)info_ptr->unknown_chunks_num);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_READ_RGB_TO_GRAY_SUPPORTED)
+png_byte PNGAPI
+png_get_rgb_to_gray_status (png_structp png_ptr)
+{
+   return (png_byte)(png_ptr? png_ptr->rgb_to_gray_status : 0);
+}
+#endif
+
+#if defined(PNG_USER_CHUNKS_SUPPORTED)
+png_voidp PNGAPI
+png_get_user_chunk_ptr(png_structp png_ptr)
+{
+   return (png_ptr? png_ptr->user_chunk_ptr : NULL);
+}
+#endif
+
+#ifdef PNG_WRITE_SUPPORTED
+png_uint_32 PNGAPI
+png_get_compression_buffer_size(png_structp png_ptr)
+{
+   return (png_uint_32)(png_ptr? png_ptr->zbuf_size : 0L);
+}
+#endif
+
+#ifdef PNG_ASSEMBLER_CODE_SUPPORTED
+#ifndef PNG_1_0_X
+/* This function was added to libpng 1.2.0 and should exist by default */
+png_uint_32 PNGAPI
+png_get_asm_flags (png_structp png_ptr)
+{
+    /* Obsolete, to be removed from libpng-1.4.0 */
+    return (png_ptr? 0L: 0L);
+}
+
+/* This function was added to libpng 1.2.0 and should exist by default */
+png_uint_32 PNGAPI
+png_get_asm_flagmask (int flag_select)
+{
+    /* Obsolete, to be removed from libpng-1.4.0 */
+    flag_select=flag_select;
+    return 0L;
+}
+
+    /* GRR:  could add this:   && defined(PNG_MMX_CODE_SUPPORTED) */
+/* This function was added to libpng 1.2.0 */
+png_uint_32 PNGAPI
+png_get_mmx_flagmask (int flag_select, int *compilerID)
+{
+    /* Obsolete, to be removed from libpng-1.4.0 */
+    flag_select=flag_select;
+    *compilerID = -1;   /* unknown (i.e., no asm/MMX code compiled) */
+    return 0L;
+}
+
+/* This function was added to libpng 1.2.0 */
+png_byte PNGAPI
+png_get_mmx_bitdepth_threshold (png_structp png_ptr)
+{
+    /* Obsolete, to be removed from libpng-1.4.0 */
+    return (png_ptr? 0: 0);
+}
+
+/* This function was added to libpng 1.2.0 */
+png_uint_32 PNGAPI
+png_get_mmx_rowbytes_threshold (png_structp png_ptr)
+{
+    /* Obsolete, to be removed from libpng-1.4.0 */
+    return (png_ptr? 0L: 0L);
+}
+#endif /* ?PNG_1_0_X */
+#endif /* ?PNG_ASSEMBLER_CODE_SUPPORTED */
+
+#ifdef PNG_SET_USER_LIMITS_SUPPORTED
+/* These functions were added to libpng 1.2.6 */
+png_uint_32 PNGAPI
+png_get_user_width_max (png_structp png_ptr)
+{
+    return (png_ptr? png_ptr->user_width_max : 0);
+}
+png_uint_32 PNGAPI
+png_get_user_height_max (png_structp png_ptr)
+{
+    return (png_ptr? png_ptr->user_height_max : 0);
+}
+#endif /* ?PNG_SET_USER_LIMITS_SUPPORTED */
+ 
+
+#endif /* PNG_READ_SUPPORTED || PNG_WRITE_SUPPORTED */

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngmem.c

@@ -0,0 +1,617 @@
+
+/* pngmem.c - stub functions for memory allocation
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ *
+ * This file provides a location for all memory allocation.  Users who
+ * need special memory handling are expected to supply replacement
+ * functions for png_malloc() and png_free(), and to use
+ * png_create_read_struct_2() and png_create_write_struct_2() to
+ * identify the replacement functions.
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+
+/* Borland DOS special memory handler */
+#if defined(__TURBOC__) && !defined(_Windows) && !defined(__FLAT__)
+/* If you change this, be sure to change the one in png.h also */
+
+/* Allocate memory for a png_struct.  The malloc and memset can be replaced
+   by a single call to calloc() if this is thought to improve performance. */
+png_voidp /* PRIVATE */
+png_create_struct(int type)
+{
+#ifdef PNG_USER_MEM_SUPPORTED
+   return (png_create_struct_2(type, png_malloc_ptr_NULL, png_voidp_NULL));
+}
+
+/* Alternate version of png_create_struct, for use with user-defined malloc. */
+png_voidp /* PRIVATE */
+png_create_struct_2(int type, png_malloc_ptr malloc_fn, png_voidp mem_ptr)
+{
+#endif /* PNG_USER_MEM_SUPPORTED */
+   png_size_t size;
+   png_voidp struct_ptr;
+
+   if (type == PNG_STRUCT_INFO)
+      size = png_sizeof(png_info);
+   else if (type == PNG_STRUCT_PNG)
+      size = png_sizeof(png_struct);
+   else
+      return (png_get_copyright(NULL));
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   if (malloc_fn != NULL)
+   {
+      png_struct dummy_struct;
+      png_structp png_ptr = &dummy_struct;
+      png_ptr->mem_ptr=mem_ptr;
+      struct_ptr = (*(malloc_fn))(png_ptr, (png_uint_32)size);
+   }
+   else
+#endif /* PNG_USER_MEM_SUPPORTED */
+   struct_ptr = (png_voidp)farmalloc(size);
+   if (struct_ptr != NULL)
+      png_memset(struct_ptr, 0, size);
+   return (struct_ptr);
+}
+
+/* Free memory allocated by a png_create_struct() call */
+void /* PRIVATE */
+png_destroy_struct(png_voidp struct_ptr)
+{
+#ifdef PNG_USER_MEM_SUPPORTED
+   png_destroy_struct_2(struct_ptr, png_free_ptr_NULL, png_voidp_NULL);
+}
+
+/* Free memory allocated by a png_create_struct() call */
+void /* PRIVATE */
+png_destroy_struct_2(png_voidp struct_ptr, png_free_ptr free_fn,
+    png_voidp mem_ptr)
+{
+#endif
+   if (struct_ptr != NULL)
+   {
+#ifdef PNG_USER_MEM_SUPPORTED
+      if (free_fn != NULL)
+      {
+         png_struct dummy_struct;
+         png_structp png_ptr = &dummy_struct;
+         png_ptr->mem_ptr=mem_ptr;
+         (*(free_fn))(png_ptr, struct_ptr);
+         return;
+      }
+#endif /* PNG_USER_MEM_SUPPORTED */
+      farfree (struct_ptr);
+   }
+}
+
+/* Allocate memory.  For reasonable files, size should never exceed
+ * 64K.  However, zlib may allocate more then 64K if you don't tell
+ * it not to.  See zconf.h and png.h for more information. zlib does
+ * need to allocate exactly 64K, so whatever you call here must
+ * have the ability to do that.
+ *
+ * Borland seems to have a problem in DOS mode for exactly 64K.
+ * It gives you a segment with an offset of 8 (perhaps to store its
+ * memory stuff).  zlib doesn't like this at all, so we have to
+ * detect and deal with it.  This code should not be needed in
+ * Windows or OS/2 modes, and only in 16 bit mode.  This code has
+ * been updated by Alexander Lehmann for version 0.89 to waste less
+ * memory.
+ *
+ * Note that we can't use png_size_t for the "size" declaration,
+ * since on some systems a png_size_t is a 16-bit quantity, and as a
+ * result, we would be truncating potentially larger memory requests
+ * (which should cause a fatal error) and introducing major problems.
+ */
+
+png_voidp PNGAPI
+png_malloc(png_structp png_ptr, png_uint_32 size)
+{
+   png_voidp ret;
+
+   if (png_ptr == NULL || size == 0)
+      return (NULL);
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   if (png_ptr->malloc_fn != NULL)
+      ret = ((png_voidp)(*(png_ptr->malloc_fn))(png_ptr, (png_size_t)size));
+   else
+      ret = (png_malloc_default(png_ptr, size));
+   if (ret == NULL && (png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+       png_error(png_ptr, "Out of memory!");
+   return (ret);
+}
+
+png_voidp PNGAPI
+png_malloc_default(png_structp png_ptr, png_uint_32 size)
+{
+   png_voidp ret;
+#endif /* PNG_USER_MEM_SUPPORTED */
+
+   if (png_ptr == NULL || size == 0)
+      return (NULL);
+
+#ifdef PNG_MAX_MALLOC_64K
+   if (size > (png_uint_32)65536L)
+   {
+      png_warning(png_ptr, "Cannot Allocate > 64K");
+      ret = NULL;
+   }
+   else
+#endif
+
+   if (size != (size_t)size)
+      ret = NULL;
+   else if (size == (png_uint_32)65536L)
+   {
+      if (png_ptr->offset_table == NULL)
+      {
+         /* Try to see if we need to do any of this fancy stuff */
+         ret = farmalloc(size);
+         if (ret == NULL || ((png_size_t)ret & 0xffff))
+         {
+            int num_blocks;
+            png_uint_32 total_size;
+            png_bytep table;
+            int i;
+            png_byte huge * hptr;
+
+            if (ret != NULL)
+            {
+               farfree(ret);
+               ret = NULL;
+            }
+
+            if (png_ptr->zlib_window_bits > 14)
+               num_blocks = (int)(1 << (png_ptr->zlib_window_bits - 14));
+            else
+               num_blocks = 1;
+            if (png_ptr->zlib_mem_level >= 7)
+               num_blocks += (int)(1 << (png_ptr->zlib_mem_level - 7));
+            else
+               num_blocks++;
+
+            total_size = ((png_uint_32)65536L) * (png_uint_32)num_blocks+16;
+
+            table = farmalloc(total_size);
+
+            if (table == NULL)
+            {
+#ifndef PNG_USER_MEM_SUPPORTED
+               if ((png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+                  png_error(png_ptr, "Out Of Memory."); /* Note "O" and "M" */
+               else
+                  png_warning(png_ptr, "Out Of Memory.");
+#endif
+               return (NULL);
+            }
+
+            if ((png_size_t)table & 0xfff0)
+            {
+#ifndef PNG_USER_MEM_SUPPORTED
+               if ((png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+                  png_error(png_ptr,
+                    "Farmalloc didn't return normalized pointer");
+               else
+                  png_warning(png_ptr,
+                    "Farmalloc didn't return normalized pointer");
+#endif
+               return (NULL);
+            }
+
+            png_ptr->offset_table = table;
+            png_ptr->offset_table_ptr = farmalloc(num_blocks *
+               png_sizeof(png_bytep));
+
+            if (png_ptr->offset_table_ptr == NULL)
+            {
+#ifndef PNG_USER_MEM_SUPPORTED
+               if ((png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+                  png_error(png_ptr, "Out Of memory."); /* Note "O" and "M" */
+               else
+                  png_warning(png_ptr, "Out Of memory.");
+#endif
+               return (NULL);
+            }
+
+            hptr = (png_byte huge *)table;
+            if ((png_size_t)hptr & 0xf)
+            {
+               hptr = (png_byte huge *)((long)(hptr) & 0xfffffff0L);
+               hptr = hptr + 16L;  /* "hptr += 16L" fails on Turbo C++ 3.0 */
+            }
+            for (i = 0; i < num_blocks; i++)
+            {
+               png_ptr->offset_table_ptr[i] = (png_bytep)hptr;
+               hptr = hptr + (png_uint_32)65536L;  /* "+=" fails on TC++3.0 */
+            }
+
+            png_ptr->offset_table_number = num_blocks;
+            png_ptr->offset_table_count = 0;
+            png_ptr->offset_table_count_free = 0;
+         }
+      }
+
+      if (png_ptr->offset_table_count >= png_ptr->offset_table_number)
+      {
+#ifndef PNG_USER_MEM_SUPPORTED
+         if ((png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+            png_error(png_ptr, "Out of Memory."); /* Note "o" and "M" */
+         else
+            png_warning(png_ptr, "Out of Memory.");
+#endif
+         return (NULL);
+      }
+
+      ret = png_ptr->offset_table_ptr[png_ptr->offset_table_count++];
+   }
+   else
+      ret = farmalloc(size);
+
+#ifndef PNG_USER_MEM_SUPPORTED
+   if (ret == NULL)
+   {
+      if ((png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+         png_error(png_ptr, "Out of memory."); /* Note "o" and "m" */
+      else
+         png_warning(png_ptr, "Out of memory."); /* Note "o" and "m" */
+   }
+#endif
+
+   return (ret);
+}
+
+/* Free a pointer allocated by png_malloc().  In the default
+ * configuration, png_ptr is not used, but is passed in case it
+ * is needed.  If ptr is NULL, return without taking any action.
+ */
+void PNGAPI
+png_free(png_structp png_ptr, png_voidp ptr)
+{
+   if (png_ptr == NULL || ptr == NULL)
+      return;
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   if (png_ptr->free_fn != NULL)
+   {
+      (*(png_ptr->free_fn))(png_ptr, ptr);
+      return;
+   }
+   else
+      png_free_default(png_ptr, ptr);
+}
+
+void PNGAPI
+png_free_default(png_structp png_ptr, png_voidp ptr)
+{
+#endif /* PNG_USER_MEM_SUPPORTED */
+
+   if (png_ptr == NULL || ptr == NULL)
+      return;
+
+   if (png_ptr->offset_table != NULL)
+   {
+      int i;
+
+      for (i = 0; i < png_ptr->offset_table_count; i++)
+      {
+         if (ptr == png_ptr->offset_table_ptr[i])
+         {
+            ptr = NULL;
+            png_ptr->offset_table_count_free++;
+            break;
+         }
+      }
+      if (png_ptr->offset_table_count_free == png_ptr->offset_table_count)
+      {
+         farfree(png_ptr->offset_table);
+         farfree(png_ptr->offset_table_ptr);
+         png_ptr->offset_table = NULL;
+         png_ptr->offset_table_ptr = NULL;
+      }
+   }
+
+   if (ptr != NULL)
+   {
+      farfree(ptr);
+   }
+}
+
+#else /* Not the Borland DOS special memory handler */
+
+/* Allocate memory for a png_struct or a png_info.  The malloc and
+   memset can be replaced by a single call to calloc() if this is thought
+   to improve performance noticably. */
+png_voidp /* PRIVATE */
+png_create_struct(int type)
+{
+#ifdef PNG_USER_MEM_SUPPORTED
+   return (png_create_struct_2(type, png_malloc_ptr_NULL, png_voidp_NULL));
+}
+
+/* Allocate memory for a png_struct or a png_info.  The malloc and
+   memset can be replaced by a single call to calloc() if this is thought
+   to improve performance noticably. */
+png_voidp /* PRIVATE */
+png_create_struct_2(int type, png_malloc_ptr malloc_fn, png_voidp mem_ptr)
+{
+#endif /* PNG_USER_MEM_SUPPORTED */
+   png_size_t size;
+   png_voidp struct_ptr;
+
+   if (type == PNG_STRUCT_INFO)
+      size = png_sizeof(png_info);
+   else if (type == PNG_STRUCT_PNG)
+      size = png_sizeof(png_struct);
+   else
+      return (NULL);
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   if (malloc_fn != NULL)
+   {
+      png_struct dummy_struct;
+      png_structp png_ptr = &dummy_struct;
+      png_ptr->mem_ptr=mem_ptr;
+      struct_ptr = (*(malloc_fn))(png_ptr, size);
+      if (struct_ptr != NULL)
+         png_memset(struct_ptr, 0, size);
+      return (struct_ptr);
+   }
+#endif /* PNG_USER_MEM_SUPPORTED */
+
+#if defined(__TURBOC__) && !defined(__FLAT__)
+   struct_ptr = (png_voidp)farmalloc(size);
+#else
+# if defined(_MSC_VER) && defined(MAXSEG_64K)
+   struct_ptr = (png_voidp)halloc(size, 1);
+# else
+   struct_ptr = (png_voidp)malloc(size);
+# endif
+#endif
+   if (struct_ptr != NULL)
+      png_memset(struct_ptr, 0, size);
+
+   return (struct_ptr);
+}
+
+
+/* Free memory allocated by a png_create_struct() call */
+void /* PRIVATE */
+png_destroy_struct(png_voidp struct_ptr)
+{
+#ifdef PNG_USER_MEM_SUPPORTED
+   png_destroy_struct_2(struct_ptr, png_free_ptr_NULL, png_voidp_NULL);
+}
+
+/* Free memory allocated by a png_create_struct() call */
+void /* PRIVATE */
+png_destroy_struct_2(png_voidp struct_ptr, png_free_ptr free_fn,
+    png_voidp mem_ptr)
+{
+#endif /* PNG_USER_MEM_SUPPORTED */
+   if (struct_ptr != NULL)
+   {
+#ifdef PNG_USER_MEM_SUPPORTED
+      if (free_fn != NULL)
+      {
+         png_struct dummy_struct;
+         png_structp png_ptr = &dummy_struct;
+         png_ptr->mem_ptr=mem_ptr;
+         (*(free_fn))(png_ptr, struct_ptr);
+         return;
+      }
+#endif /* PNG_USER_MEM_SUPPORTED */
+#if defined(__TURBOC__) && !defined(__FLAT__)
+      farfree(struct_ptr);
+#else
+# if defined(_MSC_VER) && defined(MAXSEG_64K)
+      hfree(struct_ptr);
+# else
+      free(struct_ptr);
+# endif
+#endif
+   }
+}
+
+/* Allocate memory.  For reasonable files, size should never exceed
+ * 64K.  However, zlib may allocate more then 64K if you don't tell
+ * it not to.  See zconf.h and png.h for more information.  zlib does
+ * need to allocate exactly 64K, so whatever you call here must
+ * have the ability to do that.
+ */
+
+
+png_voidp PNGAPI
+png_malloc(png_structp png_ptr, png_uint_32 size)
+{
+   png_voidp ret;
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   if (png_ptr == NULL || size == 0)
+      return (NULL);
+
+   if (png_ptr->malloc_fn != NULL)
+      ret = ((png_voidp)(*(png_ptr->malloc_fn))(png_ptr, (png_size_t)size));
+   else
+      ret = (png_malloc_default(png_ptr, size));
+   if (ret == NULL && (png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+       png_error(png_ptr, "Out of Memory!");
+   return (ret);
+}
+
+png_voidp PNGAPI
+png_malloc_default(png_structp png_ptr, png_uint_32 size)
+{
+   png_voidp ret;
+#endif /* PNG_USER_MEM_SUPPORTED */
+
+   if (png_ptr == NULL || size == 0)
+      return (NULL);
+
+#ifdef PNG_MAX_MALLOC_64K
+   if (size > (png_uint_32)65536L)
+   {
+#ifndef PNG_USER_MEM_SUPPORTED
+      if ((png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+         png_error(png_ptr, "Cannot Allocate > 64K");
+      else
+#endif
+         return NULL;
+   }
+#endif
+
+   /* Check for overflow */
+#if defined(__TURBOC__) && !defined(__FLAT__)
+   if (size != (unsigned long)size)
+      ret = NULL;
+   else
+      ret = farmalloc(size);
+#else
+# if defined(_MSC_VER) && defined(MAXSEG_64K)
+   if (size != (unsigned long)size)
+      ret = NULL;
+   else
+      ret = halloc(size, 1);
+# else
+   if (size != (size_t)size)
+      ret = NULL;
+   else
+      ret = malloc((size_t)size);
+# endif
+#endif
+
+#ifndef PNG_USER_MEM_SUPPORTED
+   if (ret == NULL && (png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+      png_error(png_ptr, "Out of Memory");
+#endif
+
+   return (ret);
+}
+
+/* Free a pointer allocated by png_malloc().  If ptr is NULL, return
+ * without taking any action.
+ */
+void PNGAPI
+png_free(png_structp png_ptr, png_voidp ptr)
+{
+   if (png_ptr == NULL || ptr == NULL)
+      return;
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   if (png_ptr->free_fn != NULL)
+   {
+      (*(png_ptr->free_fn))(png_ptr, ptr);
+      return;
+   }
+   else
+      png_free_default(png_ptr, ptr);
+}
+void PNGAPI
+png_free_default(png_structp png_ptr, png_voidp ptr)
+{
+   if (png_ptr == NULL || ptr == NULL)
+      return;
+
+#endif /* PNG_USER_MEM_SUPPORTED */
+
+#if defined(__TURBOC__) && !defined(__FLAT__)
+   farfree(ptr);
+#else
+# if defined(_MSC_VER) && defined(MAXSEG_64K)
+   hfree(ptr);
+# else
+   free(ptr);
+# endif
+#endif
+}
+
+#endif /* Not Borland DOS special memory handler */
+
+#if defined(PNG_1_0_X)
+#  define png_malloc_warn png_malloc
+#else
+/* This function was added at libpng version 1.2.3.  The png_malloc_warn()
+ * function will set up png_malloc() to issue a png_warning and return NULL
+ * instead of issuing a png_error, if it fails to allocate the requested
+ * memory.
+ */
+png_voidp PNGAPI
+png_malloc_warn(png_structp png_ptr, png_uint_32 size)
+{
+   png_voidp ptr;
+   png_uint_32 save_flags;
+   if (png_ptr == NULL)
+      return (NULL);
+
+   save_flags = png_ptr->flags;
+   png_ptr->flags|=PNG_FLAG_MALLOC_NULL_MEM_OK;
+   ptr = (png_voidp)png_malloc((png_structp)png_ptr, size);
+   png_ptr->flags=save_flags;
+   return(ptr);
+}
+#endif
+
+png_voidp PNGAPI
+png_memcpy_check (png_structp png_ptr, png_voidp s1, png_voidp s2,
+   png_uint_32 length)
+{
+   png_size_t size;
+
+   size = (png_size_t)length;
+   if ((png_uint_32)size != length)
+      png_error(png_ptr, "Overflow in png_memcpy_check.");
+
+   return(png_memcpy (s1, s2, size));
+}
+
+png_voidp PNGAPI
+png_memset_check (png_structp png_ptr, png_voidp s1, int value,
+   png_uint_32 length)
+{
+   png_size_t size;
+
+   size = (png_size_t)length;
+   if ((png_uint_32)size != length)
+      png_error(png_ptr, "Overflow in png_memset_check.");
+
+   return (png_memset (s1, value, size));
+
+}
+
+#ifdef PNG_USER_MEM_SUPPORTED
+/* This function is called when the application wants to use another method
+ * of allocating and freeing memory.
+ */
+void PNGAPI
+png_set_mem_fn(png_structp png_ptr, png_voidp mem_ptr, png_malloc_ptr
+  malloc_fn, png_free_ptr free_fn)
+{
+   if (png_ptr != NULL)
+   {
+      png_ptr->mem_ptr = mem_ptr;
+      png_ptr->malloc_fn = malloc_fn;
+      png_ptr->free_fn = free_fn;
+   }
+}
+
+/* This function returns a pointer to the mem_ptr associated with the user
+ * functions.  The application should free any memory associated with this
+ * pointer before png_write_destroy and png_read_destroy are called.
+ */
+png_voidp PNGAPI
+png_get_mem_ptr(png_structp png_ptr)
+{
+   if (png_ptr == NULL)
+      return (NULL);
+   return ((png_voidp)png_ptr->mem_ptr);
+}
+#endif /* PNG_USER_MEM_SUPPORTED */
+#endif /* PNG_READ_SUPPORTED || PNG_WRITE_SUPPORTED */

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngrio.c

@@ -0,0 +1,174 @@
+
+/* pngrio.c - functions for data input
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ *
+ * This file provides a location for all input.  Users who need
+ * special handling are expected to write a function that has the same
+ * arguments as this and performs a similar function, but that possibly
+ * has a different input method.  Note that you shouldn't change this
+ * function, but rather write a replacement function and then make
+ * libpng use it at run time with png_set_read_fn(...).
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#if defined(PNG_READ_SUPPORTED)
+
+/* Read the data from whatever input you are using.  The default routine
+ * reads from a file pointer.  Note that this routine sometimes gets called
+ * with very small lengths, so you should implement some kind of simple
+ * buffering if you are using unbuffered reads.  This should never be asked
+ * to read more then 64K on a 16 bit machine.
+ */
+void /* PRIVATE */
+png_read_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   png_debug1(4, "reading %d bytes", (int)length);
+   if (png_ptr->read_data_fn != NULL)
+      (*(png_ptr->read_data_fn))(png_ptr, data, length);
+   else
+      png_error(png_ptr, "Call to NULL read function");
+}
+
+#if !defined(PNG_NO_STDIO)
+/* This is the function that does the actual reading of data.  If you are
+ * not reading from a standard C stream, you should create a replacement
+ * read_data function and use it at run time with png_set_read_fn(), rather
+ * than changing the library.
+ */
+#ifndef USE_FAR_KEYWORD
+void PNGAPI
+png_default_read_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   png_size_t check;
+
+   if (png_ptr == NULL)
+      return;
+   /* fread() returns 0 on error, so it is OK to store this in a png_size_t
+    * instead of an int, which is what fread() actually returns.
+    */
+#if defined(_WIN32_WCE)
+   if ( !ReadFile((HANDLE)(png_ptr->io_ptr), data, length, &check, NULL) )
+      check = 0;
+#else
+   check = (png_size_t)fread(data, (png_size_t)1, length,
+      (png_FILE_p)png_ptr->io_ptr);
+#endif
+
+   if (check != length)
+      png_error(png_ptr, "Read Error");
+}
+#else
+/* This is the model-independent version. Since the standard I/O library
+   can't handle far buffers in the medium and small models, we have to copy
+   the data.
+*/
+
+#define NEAR_BUF_SIZE 1024
+#define MIN(a,b) (a <= b ? a : b)
+
+static void PNGAPI
+png_default_read_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   int check;
+   png_byte *n_data;
+   png_FILE_p io_ptr;
+
+   if (png_ptr == NULL)
+      return;
+   /* Check if data really is near. If so, use usual code. */
+   n_data = (png_byte *)CVT_PTR_NOCHECK(data);
+   io_ptr = (png_FILE_p)CVT_PTR(png_ptr->io_ptr);
+   if ((png_bytep)n_data == data)
+   {
+#if defined(_WIN32_WCE)
+      if ( !ReadFile((HANDLE)(png_ptr->io_ptr), data, length, &check, NULL) )
+         check = 0;
+#else
+      check = fread(n_data, 1, length, io_ptr);
+#endif
+   }
+   else
+   {
+      png_byte buf[NEAR_BUF_SIZE];
+      png_size_t read, remaining, err;
+      check = 0;
+      remaining = length;
+      do
+      {
+         read = MIN(NEAR_BUF_SIZE, remaining);
+#if defined(_WIN32_WCE)
+         if ( !ReadFile((HANDLE)(io_ptr), buf, read, &err, NULL) )
+            err = 0;
+#else
+         err = fread(buf, (png_size_t)1, read, io_ptr);
+#endif
+         png_memcpy(data, buf, read); /* copy far buffer to near buffer */
+         if (err != read)
+            break;
+         else
+            check += err;
+         data += read;
+         remaining -= read;
+      }
+      while (remaining != 0);
+   }
+   if ((png_uint_32)check != (png_uint_32)length)
+      png_error(png_ptr, "read Error");
+}
+#endif
+#endif
+
+/* This function allows the application to supply a new input function
+ * for libpng if standard C streams aren't being used.
+ *
+ * This function takes as its arguments:
+ * png_ptr      - pointer to a png input data structure
+ * io_ptr       - pointer to user supplied structure containing info about
+ *                the input functions.  May be NULL.
+ * read_data_fn - pointer to a new input function that takes as its
+ *                arguments a pointer to a png_struct, a pointer to
+ *                a location where input data can be stored, and a 32-bit
+ *                unsigned int that is the number of bytes to be read.
+ *                To exit and output any fatal error messages the new write
+ *                function should call png_error(png_ptr, "Error msg").
+ *                May be NULL, in which case libpng's default function will
+ *                be used.
+ */
+void PNGAPI
+png_set_read_fn(png_structp png_ptr, png_voidp io_ptr,
+   png_rw_ptr read_data_fn)
+{
+   if (png_ptr == NULL)
+      return;
+   png_ptr->io_ptr = io_ptr;
+
+#if !defined(PNG_NO_STDIO)
+   if (read_data_fn != NULL)
+      png_ptr->read_data_fn = read_data_fn;
+   else
+      png_ptr->read_data_fn = png_default_read_data;
+#else
+   png_ptr->read_data_fn = read_data_fn;
+#endif
+
+   /* It is an error to write to a read device */
+   if (png_ptr->write_data_fn != NULL)
+   {
+      png_ptr->write_data_fn = NULL;
+      png_warning(png_ptr,
+         "It's an error to set both read_data_fn and write_data_fn in the ");
+      png_warning(png_ptr,
+         "same structure.  Resetting write_data_fn to NULL.");
+   }
+
+#if defined(PNG_WRITE_FLUSH_SUPPORTED)
+   png_ptr->output_flush_fn = NULL;
+#endif
+}
+#endif /* PNG_READ_SUPPORTED */

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngtrans.c

@@ -0,0 +1,674 @@
+
+/* pngtrans.c - transforms the data in a row (used by both readers and writers)
+ *
+ * Last changed in libpng 1.2.36 [May 14, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+
+#if defined(PNG_READ_BGR_SUPPORTED) || defined(PNG_WRITE_BGR_SUPPORTED)
+/* Turn on BGR-to-RGB mapping */
+void PNGAPI
+png_set_bgr(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_bgr");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_BGR;
+}
+#endif
+
+#if defined(PNG_READ_SWAP_SUPPORTED) || defined(PNG_WRITE_SWAP_SUPPORTED)
+/* Turn on 16 bit byte swapping */
+void PNGAPI
+png_set_swap(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_swap");
+   if (png_ptr == NULL)
+      return;
+   if (png_ptr->bit_depth == 16)
+      png_ptr->transformations |= PNG_SWAP_BYTES;
+}
+#endif
+
+#if defined(PNG_READ_PACK_SUPPORTED) || defined(PNG_WRITE_PACK_SUPPORTED)
+/* Turn on pixel packing */
+void PNGAPI
+png_set_packing(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_packing");
+   if (png_ptr == NULL)
+      return;
+   if (png_ptr->bit_depth < 8)
+   {
+      png_ptr->transformations |= PNG_PACK;
+      png_ptr->usr_bit_depth = 8;
+   }
+}
+#endif
+
+#if defined(PNG_READ_PACKSWAP_SUPPORTED)||defined(PNG_WRITE_PACKSWAP_SUPPORTED)
+/* Turn on packed pixel swapping */
+void PNGAPI
+png_set_packswap(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_packswap");
+   if (png_ptr == NULL)
+      return;
+   if (png_ptr->bit_depth < 8)
+      png_ptr->transformations |= PNG_PACKSWAP;
+}
+#endif
+
+#if defined(PNG_READ_SHIFT_SUPPORTED) || defined(PNG_WRITE_SHIFT_SUPPORTED)
+void PNGAPI
+png_set_shift(png_structp png_ptr, png_color_8p true_bits)
+{
+   png_debug(1, "in png_set_shift");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_SHIFT;
+   png_ptr->shift = *true_bits;
+}
+#endif
+
+#if defined(PNG_READ_INTERLACING_SUPPORTED) || \
+    defined(PNG_WRITE_INTERLACING_SUPPORTED)
+int PNGAPI
+png_set_interlace_handling(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_interlace handling");
+   if (png_ptr && png_ptr->interlaced)
+   {
+      png_ptr->transformations |= PNG_INTERLACE;
+      return (7);
+   }
+
+   return (1);
+}
+#endif
+
+#if defined(PNG_READ_FILLER_SUPPORTED) || defined(PNG_WRITE_FILLER_SUPPORTED)
+/* Add a filler byte on read, or remove a filler or alpha byte on write.
+ * The filler type has changed in v0.95 to allow future 2-byte fillers
+ * for 48-bit input data, as well as to avoid problems with some compilers
+ * that don't like bytes as parameters.
+ */
+void PNGAPI
+png_set_filler(png_structp png_ptr, png_uint_32 filler, int filler_loc)
+{
+   png_debug(1, "in png_set_filler");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_FILLER;
+   png_ptr->filler = (png_byte)filler;
+   if (filler_loc == PNG_FILLER_AFTER)
+      png_ptr->flags |= PNG_FLAG_FILLER_AFTER;
+   else
+      png_ptr->flags &= ~PNG_FLAG_FILLER_AFTER;
+
+   /* This should probably go in the "do_read_filler" routine.
+    * I attempted to do that in libpng-1.0.1a but that caused problems
+    * so I restored it in libpng-1.0.2a
+   */
+
+   if (png_ptr->color_type == PNG_COLOR_TYPE_RGB)
+   {
+      png_ptr->usr_channels = 4;
+   }
+
+   /* Also I added this in libpng-1.0.2a (what happens when we expand
+    * a less-than-8-bit grayscale to GA? */
+
+   if (png_ptr->color_type == PNG_COLOR_TYPE_GRAY && png_ptr->bit_depth >= 8)
+   {
+      png_ptr->usr_channels = 2;
+   }
+}
+
+#if !defined(PNG_1_0_X)
+/* Added to libpng-1.2.7 */
+void PNGAPI
+png_set_add_alpha(png_structp png_ptr, png_uint_32 filler, int filler_loc)
+{
+   png_debug(1, "in png_set_add_alpha");
+   if (png_ptr == NULL)
+      return;
+   png_set_filler(png_ptr, filler, filler_loc);
+   png_ptr->transformations |= PNG_ADD_ALPHA;
+}
+#endif
+
+#endif
+
+#if defined(PNG_READ_SWAP_ALPHA_SUPPORTED) || \
+    defined(PNG_WRITE_SWAP_ALPHA_SUPPORTED)
+void PNGAPI
+png_set_swap_alpha(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_swap_alpha");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_SWAP_ALPHA;
+}
+#endif
+
+#if defined(PNG_READ_INVERT_ALPHA_SUPPORTED) || \
+    defined(PNG_WRITE_INVERT_ALPHA_SUPPORTED)
+void PNGAPI
+png_set_invert_alpha(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_invert_alpha");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_INVERT_ALPHA;
+}
+#endif
+
+#if defined(PNG_READ_INVERT_SUPPORTED) || defined(PNG_WRITE_INVERT_SUPPORTED)
+void PNGAPI
+png_set_invert_mono(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_invert_mono");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_INVERT_MONO;
+}
+
+/* Invert monochrome grayscale data */
+void /* PRIVATE */
+png_do_invert(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_invert");
+  /* This test removed from libpng version 1.0.13 and 1.2.0:
+   *   if (row_info->bit_depth == 1 &&
+   */
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row == NULL || row_info == NULL)
+     return;
+#endif
+   if (row_info->color_type == PNG_COLOR_TYPE_GRAY)
+   {
+      png_bytep rp = row;
+      png_uint_32 i;
+      png_uint_32 istop = row_info->rowbytes;
+
+      for (i = 0; i < istop; i++)
+      {
+         *rp = (png_byte)(~(*rp));
+         rp++;
+      }
+   }
+   else if (row_info->color_type == PNG_COLOR_TYPE_GRAY_ALPHA &&
+      row_info->bit_depth == 8)
+   {
+      png_bytep rp = row;
+      png_uint_32 i;
+      png_uint_32 istop = row_info->rowbytes;
+
+      for (i = 0; i < istop; i+=2)
+      {
+         *rp = (png_byte)(~(*rp));
+         rp+=2;
+      }
+   }
+   else if (row_info->color_type == PNG_COLOR_TYPE_GRAY_ALPHA &&
+      row_info->bit_depth == 16)
+   {
+      png_bytep rp = row;
+      png_uint_32 i;
+      png_uint_32 istop = row_info->rowbytes;
+
+      for (i = 0; i < istop; i+=4)
+      {
+         *rp = (png_byte)(~(*rp));
+         *(rp+1) = (png_byte)(~(*(rp+1)));
+         rp+=4;
+      }
+   }
+}
+#endif
+
+#if defined(PNG_READ_SWAP_SUPPORTED) || defined(PNG_WRITE_SWAP_SUPPORTED)
+/* Swaps byte order on 16 bit depth images */
+void /* PRIVATE */
+png_do_swap(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_swap");
+   if (
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+       row_info->bit_depth == 16)
+   {
+      png_bytep rp = row;
+      png_uint_32 i;
+      png_uint_32 istop= row_info->width * row_info->channels;
+
+      for (i = 0; i < istop; i++, rp += 2)
+      {
+         png_byte t = *rp;
+         *rp = *(rp + 1);
+         *(rp + 1) = t;
+      }
+   }
+}
+#endif
+
+#if defined(PNG_READ_PACKSWAP_SUPPORTED)||defined(PNG_WRITE_PACKSWAP_SUPPORTED)
+static PNG_CONST png_byte onebppswaptable[256] = {
+   0x00, 0x80, 0x40, 0xC0, 0x20, 0xA0, 0x60, 0xE0,
+   0x10, 0x90, 0x50, 0xD0, 0x30, 0xB0, 0x70, 0xF0,
+   0x08, 0x88, 0x48, 0xC8, 0x28, 0xA8, 0x68, 0xE8,
+   0x18, 0x98, 0x58, 0xD8, 0x38, 0xB8, 0x78, 0xF8,
+   0x04, 0x84, 0x44, 0xC4, 0x24, 0xA4, 0x64, 0xE4,
+   0x14, 0x94, 0x54, 0xD4, 0x34, 0xB4, 0x74, 0xF4,
+   0x0C, 0x8C, 0x4C, 0xCC, 0x2C, 0xAC, 0x6C, 0xEC,
+   0x1C, 0x9C, 0x5C, 0xDC, 0x3C, 0xBC, 0x7C, 0xFC,
+   0x02, 0x82, 0x42, 0xC2, 0x22, 0xA2, 0x62, 0xE2,
+   0x12, 0x92, 0x52, 0xD2, 0x32, 0xB2, 0x72, 0xF2,
+   0x0A, 0x8A, 0x4A, 0xCA, 0x2A, 0xAA, 0x6A, 0xEA,
+   0x1A, 0x9A, 0x5A, 0xDA, 0x3A, 0xBA, 0x7A, 0xFA,
+   0x06, 0x86, 0x46, 0xC6, 0x26, 0xA6, 0x66, 0xE6,
+   0x16, 0x96, 0x56, 0xD6, 0x36, 0xB6, 0x76, 0xF6,
+   0x0E, 0x8E, 0x4E, 0xCE, 0x2E, 0xAE, 0x6E, 0xEE,
+   0x1E, 0x9E, 0x5E, 0xDE, 0x3E, 0xBE, 0x7E, 0xFE,
+   0x01, 0x81, 0x41, 0xC1, 0x21, 0xA1, 0x61, 0xE1,
+   0x11, 0x91, 0x51, 0xD1, 0x31, 0xB1, 0x71, 0xF1,
+   0x09, 0x89, 0x49, 0xC9, 0x29, 0xA9, 0x69, 0xE9,
+   0x19, 0x99, 0x59, 0xD9, 0x39, 0xB9, 0x79, 0xF9,
+   0x05, 0x85, 0x45, 0xC5, 0x25, 0xA5, 0x65, 0xE5,
+   0x15, 0x95, 0x55, 0xD5, 0x35, 0xB5, 0x75, 0xF5,
+   0x0D, 0x8D, 0x4D, 0xCD, 0x2D, 0xAD, 0x6D, 0xED,
+   0x1D, 0x9D, 0x5D, 0xDD, 0x3D, 0xBD, 0x7D, 0xFD,
+   0x03, 0x83, 0x43, 0xC3, 0x23, 0xA3, 0x63, 0xE3,
+   0x13, 0x93, 0x53, 0xD3, 0x33, 0xB3, 0x73, 0xF3,
+   0x0B, 0x8B, 0x4B, 0xCB, 0x2B, 0xAB, 0x6B, 0xEB,
+   0x1B, 0x9B, 0x5B, 0xDB, 0x3B, 0xBB, 0x7B, 0xFB,
+   0x07, 0x87, 0x47, 0xC7, 0x27, 0xA7, 0x67, 0xE7,
+   0x17, 0x97, 0x57, 0xD7, 0x37, 0xB7, 0x77, 0xF7,
+   0x0F, 0x8F, 0x4F, 0xCF, 0x2F, 0xAF, 0x6F, 0xEF,
+   0x1F, 0x9F, 0x5F, 0xDF, 0x3F, 0xBF, 0x7F, 0xFF
+};
+
+static PNG_CONST png_byte twobppswaptable[256] = {
+   0x00, 0x40, 0x80, 0xC0, 0x10, 0x50, 0x90, 0xD0,
+   0x20, 0x60, 0xA0, 0xE0, 0x30, 0x70, 0xB0, 0xF0,
+   0x04, 0x44, 0x84, 0xC4, 0x14, 0x54, 0x94, 0xD4,
+   0x24, 0x64, 0xA4, 0xE4, 0x34, 0x74, 0xB4, 0xF4,
+   0x08, 0x48, 0x88, 0xC8, 0x18, 0x58, 0x98, 0xD8,
+   0x28, 0x68, 0xA8, 0xE8, 0x38, 0x78, 0xB8, 0xF8,
+   0x0C, 0x4C, 0x8C, 0xCC, 0x1C, 0x5C, 0x9C, 0xDC,
+   0x2C, 0x6C, 0xAC, 0xEC, 0x3C, 0x7C, 0xBC, 0xFC,
+   0x01, 0x41, 0x81, 0xC1, 0x11, 0x51, 0x91, 0xD1,
+   0x21, 0x61, 0xA1, 0xE1, 0x31, 0x71, 0xB1, 0xF1,
+   0x05, 0x45, 0x85, 0xC5, 0x15, 0x55, 0x95, 0xD5,
+   0x25, 0x65, 0xA5, 0xE5, 0x35, 0x75, 0xB5, 0xF5,
+   0x09, 0x49, 0x89, 0xC9, 0x19, 0x59, 0x99, 0xD9,
+   0x29, 0x69, 0xA9, 0xE9, 0x39, 0x79, 0xB9, 0xF9,
+   0x0D, 0x4D, 0x8D, 0xCD, 0x1D, 0x5D, 0x9D, 0xDD,
+   0x2D, 0x6D, 0xAD, 0xED, 0x3D, 0x7D, 0xBD, 0xFD,
+   0x02, 0x42, 0x82, 0xC2, 0x12, 0x52, 0x92, 0xD2,
+   0x22, 0x62, 0xA2, 0xE2, 0x32, 0x72, 0xB2, 0xF2,
+   0x06, 0x46, 0x86, 0xC6, 0x16, 0x56, 0x96, 0xD6,
+   0x26, 0x66, 0xA6, 0xE6, 0x36, 0x76, 0xB6, 0xF6,
+   0x0A, 0x4A, 0x8A, 0xCA, 0x1A, 0x5A, 0x9A, 0xDA,
+   0x2A, 0x6A, 0xAA, 0xEA, 0x3A, 0x7A, 0xBA, 0xFA,
+   0x0E, 0x4E, 0x8E, 0xCE, 0x1E, 0x5E, 0x9E, 0xDE,
+   0x2E, 0x6E, 0xAE, 0xEE, 0x3E, 0x7E, 0xBE, 0xFE,
+   0x03, 0x43, 0x83, 0xC3, 0x13, 0x53, 0x93, 0xD3,
+   0x23, 0x63, 0xA3, 0xE3, 0x33, 0x73, 0xB3, 0xF3,
+   0x07, 0x47, 0x87, 0xC7, 0x17, 0x57, 0x97, 0xD7,
+   0x27, 0x67, 0xA7, 0xE7, 0x37, 0x77, 0xB7, 0xF7,
+   0x0B, 0x4B, 0x8B, 0xCB, 0x1B, 0x5B, 0x9B, 0xDB,
+   0x2B, 0x6B, 0xAB, 0xEB, 0x3B, 0x7B, 0xBB, 0xFB,
+   0x0F, 0x4F, 0x8F, 0xCF, 0x1F, 0x5F, 0x9F, 0xDF,
+   0x2F, 0x6F, 0xAF, 0xEF, 0x3F, 0x7F, 0xBF, 0xFF
+};
+
+static PNG_CONST png_byte fourbppswaptable[256] = {
+   0x00, 0x10, 0x20, 0x30, 0x40, 0x50, 0x60, 0x70,
+   0x80, 0x90, 0xA0, 0xB0, 0xC0, 0xD0, 0xE0, 0xF0,
+   0x01, 0x11, 0x21, 0x31, 0x41, 0x51, 0x61, 0x71,
+   0x81, 0x91, 0xA1, 0xB1, 0xC1, 0xD1, 0xE1, 0xF1,
+   0x02, 0x12, 0x22, 0x32, 0x42, 0x52, 0x62, 0x72,
+   0x82, 0x92, 0xA2, 0xB2, 0xC2, 0xD2, 0xE2, 0xF2,
+   0x03, 0x13, 0x23, 0x33, 0x43, 0x53, 0x63, 0x73,
+   0x83, 0x93, 0xA3, 0xB3, 0xC3, 0xD3, 0xE3, 0xF3,
+   0x04, 0x14, 0x24, 0x34, 0x44, 0x54, 0x64, 0x74,
+   0x84, 0x94, 0xA4, 0xB4, 0xC4, 0xD4, 0xE4, 0xF4,
+   0x05, 0x15, 0x25, 0x35, 0x45, 0x55, 0x65, 0x75,
+   0x85, 0x95, 0xA5, 0xB5, 0xC5, 0xD5, 0xE5, 0xF5,
+   0x06, 0x16, 0x26, 0x36, 0x46, 0x56, 0x66, 0x76,
+   0x86, 0x96, 0xA6, 0xB6, 0xC6, 0xD6, 0xE6, 0xF6,
+   0x07, 0x17, 0x27, 0x37, 0x47, 0x57, 0x67, 0x77,
+   0x87, 0x97, 0xA7, 0xB7, 0xC7, 0xD7, 0xE7, 0xF7,
+   0x08, 0x18, 0x28, 0x38, 0x48, 0x58, 0x68, 0x78,
+   0x88, 0x98, 0xA8, 0xB8, 0xC8, 0xD8, 0xE8, 0xF8,
+   0x09, 0x19, 0x29, 0x39, 0x49, 0x59, 0x69, 0x79,
+   0x89, 0x99, 0xA9, 0xB9, 0xC9, 0xD9, 0xE9, 0xF9,
+   0x0A, 0x1A, 0x2A, 0x3A, 0x4A, 0x5A, 0x6A, 0x7A,
+   0x8A, 0x9A, 0xAA, 0xBA, 0xCA, 0xDA, 0xEA, 0xFA,
+   0x0B, 0x1B, 0x2B, 0x3B, 0x4B, 0x5B, 0x6B, 0x7B,
+   0x8B, 0x9B, 0xAB, 0xBB, 0xCB, 0xDB, 0xEB, 0xFB,
+   0x0C, 0x1C, 0x2C, 0x3C, 0x4C, 0x5C, 0x6C, 0x7C,
+   0x8C, 0x9C, 0xAC, 0xBC, 0xCC, 0xDC, 0xEC, 0xFC,
+   0x0D, 0x1D, 0x2D, 0x3D, 0x4D, 0x5D, 0x6D, 0x7D,
+   0x8D, 0x9D, 0xAD, 0xBD, 0xCD, 0xDD, 0xED, 0xFD,
+   0x0E, 0x1E, 0x2E, 0x3E, 0x4E, 0x5E, 0x6E, 0x7E,
+   0x8E, 0x9E, 0xAE, 0xBE, 0xCE, 0xDE, 0xEE, 0xFE,
+   0x0F, 0x1F, 0x2F, 0x3F, 0x4F, 0x5F, 0x6F, 0x7F,
+   0x8F, 0x9F, 0xAF, 0xBF, 0xCF, 0xDF, 0xEF, 0xFF
+};
+
+/* Swaps pixel packing order within bytes */
+void /* PRIVATE */
+png_do_packswap(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_packswap");
+   if (
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+       row_info->bit_depth < 8)
+   {
+      png_bytep rp, end, table;
+
+      end = row + row_info->rowbytes;
+
+      if (row_info->bit_depth == 1)
+         table = (png_bytep)onebppswaptable;
+      else if (row_info->bit_depth == 2)
+         table = (png_bytep)twobppswaptable;
+      else if (row_info->bit_depth == 4)
+         table = (png_bytep)fourbppswaptable;
+      else
+         return;
+
+      for (rp = row; rp < end; rp++)
+         *rp = table[*rp];
+   }
+}
+#endif /* PNG_READ_PACKSWAP_SUPPORTED or PNG_WRITE_PACKSWAP_SUPPORTED */
+
+#if defined(PNG_WRITE_FILLER_SUPPORTED) || \
+    defined(PNG_READ_STRIP_ALPHA_SUPPORTED)
+/* Remove filler or alpha byte(s) */
+void /* PRIVATE */
+png_do_strip_filler(png_row_infop row_info, png_bytep row, png_uint_32 flags)
+{
+   png_debug(1, "in png_do_strip_filler");
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row != NULL && row_info != NULL)
+#endif
+   {
+      png_bytep sp=row;
+      png_bytep dp=row;
+      png_uint_32 row_width=row_info->width;
+      png_uint_32 i;
+
+      if ((row_info->color_type == PNG_COLOR_TYPE_RGB ||
+          (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA &&
+          (flags & PNG_FLAG_STRIP_ALPHA))) &&
+          row_info->channels == 4)
+      {
+         if (row_info->bit_depth == 8)
+         {
+            /* This converts from RGBX or RGBA to RGB */
+            if (flags & PNG_FLAG_FILLER_AFTER)
+            {
+               dp+=3; sp+=4;
+               for (i = 1; i < row_width; i++)
+               {
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  sp++;
+               }
+            }
+            /* This converts from XRGB or ARGB to RGB */
+            else
+            {
+               for (i = 0; i < row_width; i++)
+               {
+                  sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+               }
+            }
+            row_info->pixel_depth = 24;
+            row_info->rowbytes = row_width * 3;
+         }
+         else /* if (row_info->bit_depth == 16) */
+         {
+            if (flags & PNG_FLAG_FILLER_AFTER)
+            {
+               /* This converts from RRGGBBXX or RRGGBBAA to RRGGBB */
+               sp += 8; dp += 6;
+               for (i = 1; i < row_width; i++)
+               {
+                  /* This could be (although png_memcpy is probably slower):
+                  png_memcpy(dp, sp, 6);
+                  sp += 8;
+                  dp += 6;
+                  */
+
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  sp += 2;
+               }
+            }
+            else
+            {
+               /* This converts from XXRRGGBB or AARRGGBB to RRGGBB */
+               for (i = 0; i < row_width; i++)
+               {
+                  /* This could be (although png_memcpy is probably slower):
+                  png_memcpy(dp, sp, 6);
+                  sp += 8;
+                  dp += 6;
+                  */
+
+                  sp+=2;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+               }
+            }
+            row_info->pixel_depth = 48;
+            row_info->rowbytes = row_width * 6;
+         }
+         row_info->channels = 3;
+      }
+      else if ((row_info->color_type == PNG_COLOR_TYPE_GRAY ||
+         (row_info->color_type == PNG_COLOR_TYPE_GRAY_ALPHA &&
+         (flags & PNG_FLAG_STRIP_ALPHA))) &&
+          row_info->channels == 2)
+      {
+         if (row_info->bit_depth == 8)
+         {
+            /* This converts from GX or GA to G */
+            if (flags & PNG_FLAG_FILLER_AFTER)
+            {
+               for (i = 0; i < row_width; i++)
+               {
+                  *dp++ = *sp++;
+                  sp++;
+               }
+            }
+            /* This converts from XG or AG to G */
+            else
+            {
+               for (i = 0; i < row_width; i++)
+               {
+                  sp++;
+                  *dp++ = *sp++;
+               }
+            }
+            row_info->pixel_depth = 8;
+            row_info->rowbytes = row_width;
+         }
+         else /* if (row_info->bit_depth == 16) */
+         {
+            if (flags & PNG_FLAG_FILLER_AFTER)
+            {
+               /* This converts from GGXX or GGAA to GG */
+               sp += 4; dp += 2;
+               for (i = 1; i < row_width; i++)
+               {
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  sp += 2;
+               }
+            }
+            else
+            {
+               /* This converts from XXGG or AAGG to GG */
+               for (i = 0; i < row_width; i++)
+               {
+                  sp += 2;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+               }
+            }
+            row_info->pixel_depth = 16;
+            row_info->rowbytes = row_width * 2;
+         }
+         row_info->channels = 1;
+      }
+      if (flags & PNG_FLAG_STRIP_ALPHA)
+        row_info->color_type &= ~PNG_COLOR_MASK_ALPHA;
+   }
+}
+#endif
+
+#if defined(PNG_READ_BGR_SUPPORTED) || defined(PNG_WRITE_BGR_SUPPORTED)
+/* Swaps red and blue bytes within a pixel */
+void /* PRIVATE */
+png_do_bgr(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_bgr");
+   if (
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+       (row_info->color_type & PNG_COLOR_MASK_COLOR))
+   {
+      png_uint_32 row_width = row_info->width;
+      if (row_info->bit_depth == 8)
+      {
+         if (row_info->color_type == PNG_COLOR_TYPE_RGB)
+         {
+            png_bytep rp;
+            png_uint_32 i;
+
+            for (i = 0, rp = row; i < row_width; i++, rp += 3)
+            {
+               png_byte save = *rp;
+               *rp = *(rp + 2);
+               *(rp + 2) = save;
+            }
+         }
+         else if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+         {
+            png_bytep rp;
+            png_uint_32 i;
+
+            for (i = 0, rp = row; i < row_width; i++, rp += 4)
+            {
+               png_byte save = *rp;
+               *rp = *(rp + 2);
+               *(rp + 2) = save;
+            }
+         }
+      }
+      else if (row_info->bit_depth == 16)
+      {
+         if (row_info->color_type == PNG_COLOR_TYPE_RGB)
+         {
+            png_bytep rp;
+            png_uint_32 i;
+
+            for (i = 0, rp = row; i < row_width; i++, rp += 6)
+            {
+               png_byte save = *rp;
+               *rp = *(rp + 4);
+               *(rp + 4) = save;
+               save = *(rp + 1);
+               *(rp + 1) = *(rp + 5);
+               *(rp + 5) = save;
+            }
+         }
+         else if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+         {
+            png_bytep rp;
+            png_uint_32 i;
+
+            for (i = 0, rp = row; i < row_width; i++, rp += 8)
+            {
+               png_byte save = *rp;
+               *rp = *(rp + 4);
+               *(rp + 4) = save;
+               save = *(rp + 1);
+               *(rp + 1) = *(rp + 5);
+               *(rp + 5) = save;
+            }
+         }
+      }
+   }
+}
+#endif /* PNG_READ_BGR_SUPPORTED or PNG_WRITE_BGR_SUPPORTED */
+
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED) || \
+    defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED) || \
+    defined(PNG_LEGACY_SUPPORTED)
+void PNGAPI
+png_set_user_transform_info(png_structp png_ptr, png_voidp
+   user_transform_ptr, int user_transform_depth, int user_transform_channels)
+{
+   png_debug(1, "in png_set_user_transform_info");
+   if (png_ptr == NULL)
+      return;
+#if defined(PNG_USER_TRANSFORM_PTR_SUPPORTED)
+   png_ptr->user_transform_ptr = user_transform_ptr;
+   png_ptr->user_transform_depth = (png_byte)user_transform_depth;
+   png_ptr->user_transform_channels = (png_byte)user_transform_channels;
+#else
+   if (user_transform_ptr || user_transform_depth || user_transform_channels)
+      png_warning(png_ptr,
+        "This version of libpng does not support user transform info");
+#endif
+}
+#endif
+
+/* This function returns a pointer to the user_transform_ptr associated with
+ * the user transform functions.  The application should free any memory
+ * associated with this pointer before png_write_destroy and png_read_destroy
+ * are called.
+ */
+png_voidp PNGAPI
+png_get_user_transform_ptr(png_structp png_ptr)
+{
+   if (png_ptr == NULL)
+      return (NULL);
+#if defined(PNG_USER_TRANSFORM_PTR_SUPPORTED)
+   return ((png_voidp)png_ptr->user_transform_ptr);
+#else
+   return (NULL);
+#endif
+}
+#endif /* PNG_READ_SUPPORTED || PNG_WRITE_SUPPORTED */

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngvcrd.c

@@ -0,0 +1 @@
+/* pnggvrd.c was removed from libpng-1.2.20. */

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwio.c

@@ -0,0 +1,256 @@
+
+/* pngwio.c - functions for data output
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ *
+ * This file provides a location for all output.  Users who need
+ * special handling are expected to write functions that have the same
+ * arguments as these and perform similar functions, but that possibly
+ * use different output methods.  Note that you shouldn't change these
+ * functions, but rather write replacement functions and then change
+ * them at run time with png_set_write_fn(...).
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#ifdef PNG_WRITE_SUPPORTED
+
+/* Write the data to whatever output you are using.  The default routine
+ * writes to a file pointer.  Note that this routine sometimes gets called
+ * with very small lengths, so you should implement some kind of simple
+ * buffering if you are using unbuffered writes.  This should never be asked
+ * to write more than 64K on a 16 bit machine.
+ */
+
+void /* PRIVATE */
+png_write_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   if (png_ptr->write_data_fn != NULL )
+      (*(png_ptr->write_data_fn))(png_ptr, data, length);
+   else
+      png_error(png_ptr, "Call to NULL write function");
+}
+
+#if !defined(PNG_NO_STDIO)
+/* This is the function that does the actual writing of data.  If you are
+ * not writing to a standard C stream, you should create a replacement
+ * write_data function and use it at run time with png_set_write_fn(), rather
+ * than changing the library.
+ */
+#ifndef USE_FAR_KEYWORD
+void PNGAPI
+png_default_write_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   png_uint_32 check;
+
+   if (png_ptr == NULL)
+      return;
+#if defined(_WIN32_WCE)
+   if ( !WriteFile((HANDLE)(png_ptr->io_ptr), data, length, &check, NULL) )
+      check = 0;
+#else
+   check = fwrite(data, 1, length, (png_FILE_p)(png_ptr->io_ptr));
+#endif
+   if (check != length)
+      png_error(png_ptr, "Write Error");
+}
+#else
+/* This is the model-independent version. Since the standard I/O library
+ * can't handle far buffers in the medium and small models, we have to copy
+ * the data.
+ */
+
+#define NEAR_BUF_SIZE 1024
+#define MIN(a,b) (a <= b ? a : b)
+
+void PNGAPI
+png_default_write_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   png_uint_32 check;
+   png_byte *near_data;  /* Needs to be "png_byte *" instead of "png_bytep" */
+   png_FILE_p io_ptr;
+
+   if (png_ptr == NULL)
+      return;
+   /* Check if data really is near. If so, use usual code. */
+   near_data = (png_byte *)CVT_PTR_NOCHECK(data);
+   io_ptr = (png_FILE_p)CVT_PTR(png_ptr->io_ptr);
+   if ((png_bytep)near_data == data)
+   {
+#if defined(_WIN32_WCE)
+      if ( !WriteFile(io_ptr, near_data, length, &check, NULL) )
+         check = 0;
+#else
+      check = fwrite(near_data, 1, length, io_ptr);
+#endif
+   }
+   else
+   {
+      png_byte buf[NEAR_BUF_SIZE];
+      png_size_t written, remaining, err;
+      check = 0;
+      remaining = length;
+      do
+      {
+         written = MIN(NEAR_BUF_SIZE, remaining);
+         png_memcpy(buf, data, written); /* Copy far buffer to near buffer */
+#if defined(_WIN32_WCE)
+         if ( !WriteFile(io_ptr, buf, written, &err, NULL) )
+            err = 0;
+#else
+         err = fwrite(buf, 1, written, io_ptr);
+#endif
+         if (err != written)
+            break;
+
+         else
+            check += err;
+
+         data += written;
+         remaining -= written;
+      }
+      while (remaining != 0);
+   }
+   if (check != length)
+      png_error(png_ptr, "Write Error");
+}
+
+#endif
+#endif
+
+/* This function is called to output any data pending writing (normally
+ * to disk).  After png_flush is called, there should be no data pending
+ * writing in any buffers.
+ */
+#if defined(PNG_WRITE_FLUSH_SUPPORTED)
+void /* PRIVATE */
+png_flush(png_structp png_ptr)
+{
+   if (png_ptr->output_flush_fn != NULL)
+      (*(png_ptr->output_flush_fn))(png_ptr);
+}
+
+#if !defined(PNG_NO_STDIO)
+void PNGAPI
+png_default_flush(png_structp png_ptr)
+{
+#if !defined(_WIN32_WCE)
+   png_FILE_p io_ptr;
+#endif
+   if (png_ptr == NULL)
+      return;
+#if !defined(_WIN32_WCE)
+   io_ptr = (png_FILE_p)CVT_PTR((png_ptr->io_ptr));
+   fflush(io_ptr);
+#endif
+}
+#endif
+#endif
+
+/* This function allows the application to supply new output functions for
+ * libpng if standard C streams aren't being used.
+ *
+ * This function takes as its arguments:
+ * png_ptr       - pointer to a png output data structure
+ * io_ptr        - pointer to user supplied structure containing info about
+ *                 the output functions.  May be NULL.
+ * write_data_fn - pointer to a new output function that takes as its
+ *                 arguments a pointer to a png_struct, a pointer to
+ *                 data to be written, and a 32-bit unsigned int that is
+ *                 the number of bytes to be written.  The new write
+ *                 function should call png_error(png_ptr, "Error msg")
+ *                 to exit and output any fatal error messages.  May be
+ *                 NULL, in which case libpng's default function will
+ *                 be used.
+ * flush_data_fn - pointer to a new flush function that takes as its
+ *                 arguments a pointer to a png_struct.  After a call to
+ *                 the flush function, there should be no data in any buffers
+ *                 or pending transmission.  If the output method doesn't do
+ *                 any buffering of ouput, a function prototype must still be
+ *                 supplied although it doesn't have to do anything.  If
+ *                 PNG_WRITE_FLUSH_SUPPORTED is not defined at libpng compile
+ *                 time, output_flush_fn will be ignored, although it must be
+ *                 supplied for compatibility.  May be NULL, in which case
+ *                 libpng's default function will be used, if
+ *                 PNG_WRITE_FLUSH_SUPPORTED is defined.  This is not
+ *                 a good idea if io_ptr does not point to a standard
+ *                 *FILE structure.
+ */
+void PNGAPI
+png_set_write_fn(png_structp png_ptr, png_voidp io_ptr,
+   png_rw_ptr write_data_fn, png_flush_ptr output_flush_fn)
+{
+   if (png_ptr == NULL)
+      return;
+
+   png_ptr->io_ptr = io_ptr;
+
+#if !defined(PNG_NO_STDIO)
+   if (write_data_fn != NULL)
+      png_ptr->write_data_fn = write_data_fn;
+
+   else
+      png_ptr->write_data_fn = png_default_write_data;
+#else
+   png_ptr->write_data_fn = write_data_fn;
+#endif
+
+#if defined(PNG_WRITE_FLUSH_SUPPORTED)
+#if !defined(PNG_NO_STDIO)
+   if (output_flush_fn != NULL)
+      png_ptr->output_flush_fn = output_flush_fn;
+
+   else
+      png_ptr->output_flush_fn = png_default_flush;
+#else
+   png_ptr->output_flush_fn = output_flush_fn;
+#endif
+#endif /* PNG_WRITE_FLUSH_SUPPORTED */
+
+   /* It is an error to read while writing a png file */
+   if (png_ptr->read_data_fn != NULL)
+   {
+      png_ptr->read_data_fn = NULL;
+      png_warning(png_ptr,
+         "Attempted to set both read_data_fn and write_data_fn in");
+      png_warning(png_ptr,
+         "the same structure.  Resetting read_data_fn to NULL.");
+   }
+}
+
+#if defined(USE_FAR_KEYWORD)
+#if defined(_MSC_VER)
+void *png_far_to_near(png_structp png_ptr, png_voidp ptr, int check)
+{
+   void *near_ptr;
+   void FAR *far_ptr;
+   FP_OFF(near_ptr) = FP_OFF(ptr);
+   far_ptr = (void FAR *)near_ptr;
+
+   if (check != 0)
+      if (FP_SEG(ptr) != FP_SEG(far_ptr))
+         png_error(png_ptr, "segment lost in conversion");
+
+   return(near_ptr);
+}
+#  else
+void *png_far_to_near(png_structp png_ptr, png_voidp ptr, int check)
+{
+   void *near_ptr;
+   void FAR *far_ptr;
+   near_ptr = (void FAR *)ptr;
+   far_ptr = (void FAR *)near_ptr;
+
+   if (check != 0)
+      if (far_ptr != ptr)
+         png_error(png_ptr, "segment lost in conversion");
+
+   return(near_ptr);
+}
+#   endif
+#   endif
+#endif /* PNG_WRITE_SUPPORTED */

ongoing/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwtran.c

@@ -0,0 +1,572 @@
+
+/* pngwtran.c - transforms the data in a row for PNG writers
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#ifdef PNG_WRITE_SUPPORTED
+
+/* Transform the data according to the user's wishes.  The order of
+ * transformations is significant.
+ */
+void /* PRIVATE */
+png_do_write_transformations(png_structp png_ptr)
+{
+   png_debug(1, "in png_do_write_transformations");
+
+   if (png_ptr == NULL)
+      return;
+
+#if defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED)
+   if (png_ptr->transformations & PNG_USER_TRANSFORM)
+      if (png_ptr->write_user_transform_fn != NULL)
+        (*(png_ptr->write_user_transform_fn)) /* User write transform function */
+          (png_ptr,                    /* png_ptr */
+           &(png_ptr->row_info),       /* row_info:     */
+             /*  png_uint_32 width;          width of row */
+             /*  png_uint_32 rowbytes;       number of bytes in row */
+             /*  png_byte color_type;        color type of pixels */
+             /*  png_byte bit_depth;         bit depth of samples */
+             /*  png_byte channels;          number of channels (1-4) */
+             /*  png_byte pixel_depth;       bits per pixel (depth*channels) */
+           png_ptr->row_buf + 1);      /* start of pixel data for row */
+#endif
+#if defined(PNG_WRITE_FILLER_SUPPORTED)
+   if (png_ptr->transformations & PNG_FILLER)
+      png_do_strip_filler(&(png_ptr->row_info), png_ptr->row_buf + 1,
+         png_ptr->flags);
+#endif
+#if defined(PNG_WRITE_PACKSWAP_SUPPORTED)
+   if (png_ptr->transformations & PNG_PACKSWAP)
+      png_do_packswap(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+#if defined(PNG_WRITE_PACK_SUPPORTED)
+   if (png_ptr->transformations & PNG_PACK)
+      png_do_pack(&(png_ptr->row_info), png_ptr->row_buf + 1,
+         (png_uint_32)png_ptr->bit_depth);
+#endif
+#if defined(PNG_WRITE_SWAP_SUPPORTED)
+   if (png_ptr->transformations & PNG_SWAP_BYTES)
+      png_do_swap(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+#if defined(PNG_WRITE_SHIFT_SUPPORTED)
+   if (png_ptr->transformations & PNG_SHIFT)
+      png_do_shift(&(png_ptr->row_info), png_ptr->row_buf + 1,
+         &(png_ptr->shift));
+#endif
+#if defined(PNG_WRITE_SWAP_ALPHA_SUPPORTED)
+   if (png_ptr->transformations & PNG_SWAP_ALPHA)
+      png_do_write_swap_alpha(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+#if defined(PNG_WRITE_INVERT_ALPHA_SUPPORTED)
+   if (png_ptr->transformations & PNG_INVERT_ALPHA)
+      png_do_write_invert_alpha(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+#if defined(PNG_WRITE_BGR_SUPPORTED)
+   if (png_ptr->transformations & PNG_BGR)
+      png_do_bgr(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+#if defined(PNG_WRITE_INVERT_SUPPORTED)
+   if (png_ptr->transformations & PNG_INVERT_MONO)
+      png_do_invert(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+}
+
+#if defined(PNG_WRITE_PACK_SUPPORTED)
+/* Pack pixels into bytes.  Pass the true bit depth in bit_depth.  The
+ * row_info bit depth should be 8 (one pixel per byte).  The channels
+ * should be 1 (this only happens on grayscale and paletted images).
+ */
+void /* PRIVATE */
+png_do_pack(png_row_infop row_info, png_bytep row, png_uint_32 bit_depth)
+{
+   png_debug(1, "in png_do_pack");
+   if (row_info->bit_depth == 8 &&
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+      row_info->channels == 1)
+   {
+      switch ((int)bit_depth)
+      {
+         case 1:
+         {
+            png_bytep sp, dp;
+            int mask, v;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            sp = row;
+            dp = row;
+            mask = 0x80;
+            v = 0;
+
+            for (i = 0; i < row_width; i++)
+            {
+               if (*sp != 0)
+                  v |= mask;
+               sp++;
+               if (mask > 1)
+                  mask >>= 1;
+               else
+               {
+                  mask = 0x80;
+                  *dp = (png_byte)v;
+                  dp++;
+                  v = 0;
+               }
+            }
+            if (mask != 0x80)
+               *dp = (png_byte)v;
+            break;
+         }
+         case 2:
+         {
+            png_bytep sp, dp;
+            int shift, v;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            sp = row;
+            dp = row;
+            shift = 6;
+            v = 0;
+            for (i = 0; i < row_width; i++)
+            {
+               png_byte value;
+
+               value = (png_byte)(*sp & 0x03);
+               v |= (value << shift);
+               if (shift == 0)
+               {
+                  shift = 6;
+                  *dp = (png_byte)v;
+                  dp++;
+                  v = 0;
+               }
+               else
+                  shift -= 2;
+               sp++;
+            }
+            if (shift != 6)
+               *dp = (png_byte)v;
+            break;
+         }
+         case 4:
+         {
+            png_bytep sp, dp;
+            int shift, v;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            sp = row;
+            dp = row;
+            shift = 4;
+            v = 0;
+            for (i = 0; i < row_width; i++)
+            {
+               png_byte value;
+
+               value = (png_byte)(*sp & 0x0f);
+               v |= (value << shift);
+
+               if (shift == 0)
+               {
+                  shift = 4;
+                  *dp = (png_byte)v;
+                  dp++;
+                  v = 0;
+               }
+               else
+                  shift -= 4;
+
+               sp++;
+            }
+            if (shift != 4)
+               *dp = (png_byte)v;
+            break;
+         }
+      }
+      row_info->bit_depth = (png_byte)bit_depth;
+      row_info->pixel_depth = (png_byte)(bit_depth * row_info->channels);
+      row_info->rowbytes = PNG_ROWBYTES(row_info->pixel_depth,
+         row_info->width);
+   }
+}
+#endif
+
+#if defined(PNG_WRITE_SHIFT_SUPPORTED)
+/* Shift pixel values to take advantage of whole range.  Pass the
+ * true number of bits in bit_depth.  The row should be packed
+ * according to row_info->bit_depth.  Thus, if you had a row of
+ * bit depth 4, but the pixels only had values from 0 to 7, you
+ * would pass 3 as bit_depth, and this routine would translate the
+ * data to 0 to 15.
+ */
+void /* PRIVATE */
+png_do_shift(png_row_infop row_info, png_bytep row, png_color_8p bit_depth)
+{
+   png_debug(1, "in png_do_shift");
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row != NULL && row_info != NULL &&
+#else
+   if (
+#endif
+      row_info->color_type != PNG_COLOR_TYPE_PALETTE)
+   {
+      int shift_start[4], shift_dec[4];
+      int channels = 0;
+
+      if (row_info->color_type & PNG_COLOR_MASK_COLOR)
+      {
+         shift_start[channels] = row_info->bit_depth - bit_depth->red;
+         shift_dec[channels] = bit_depth->red;
+         channels++;
+         shift_start[channels] = row_info->bit_depth - bit_depth->green;
+         shift_dec[channels] = bit_depth->green;
+         channels++;
+         shift_start[channels] = row_info->bit_depth - bit_depth->blue;
+         shift_dec[channels] = bit_depth->blue;
+         channels++;
+      }
+      else
+      {
+         shift_start[channels] = row_info->bit_depth - bit_depth->gray;
+         shift_dec[channels] = bit_depth->gray;
+         channels++;
+      }
+      if (row_info->color_type & PNG_COLOR_MASK_ALPHA)
+      {
+         shift_start[channels] = row_info->bit_depth - bit_depth->alpha;
+         shift_dec[channels] = bit_depth->alpha;
+         channels++;
+      }
+
+      /* With low row depths, could only be grayscale, so one channel */
+      if (row_info->bit_depth < 8)
+      {
+         png_bytep bp = row;
+         png_uint_32 i;
+         png_byte mask;
+         png_uint_32 row_bytes = row_info->rowbytes;
+
+         if (bit_depth->gray == 1 && row_info->bit_depth == 2)
+            mask = 0x55;
+         else if (row_info->bit_depth == 4 && bit_depth->gray == 3)
+            mask = 0x11;
+         else
+            mask = 0xff;
+
+         for (i = 0; i < row_bytes; i++, bp++)
+         {
+            png_uint_16 v;
+            int j;
+
+            v = *bp;
+            *bp = 0;
+            for (j = shift_start[0]; j > -shift_dec[0]; j -= shift_dec[0])
+            {
+               if (j > 0)
+                  *bp |= (png_byte)((v << j) & 0xff);
+               else
+                  *bp |= (png_byte)((v >> (-j)) & mask);
+            }
+         }
+      }
+      else if (row_info->bit_depth == 8)
+      {
+         png_bytep bp = row;
+         png_uint_32 i;
+         png_uint_32 istop = channels * row_info->width;
+
+         for (i = 0; i < istop; i++, bp++)
+         {
+
+            png_uint_16 v;
+            int j;
+            int c = (int)(i%channels);
+
+            v = *bp;
+            *bp = 0;
+            for (j = shift_start[c]; j > -shift_dec[c]; j -= shift_dec[c])
+            {
+               if (j > 0)
+                  *bp |= (png_byte)((v << j) & 0xff);
+               else
+                  *bp |= (png_byte)((v >> (-j)) & 0xff);
+            }
+         }
+      }
+      else
+      {
+         png_bytep bp;
+         png_uint_32 i;
+         png_uint_32 istop = channels * row_info->width;
+
+         for (bp = row, i = 0; i < istop; i++)
+         {
+            int c = (int)(i%channels);
+            png_uint_16 value, v;
+            int j;
+
+            v = (png_uint_16)(((png_uint_16)(*bp) << 8) + *(bp + 1));
+            value = 0;
+            for (j = shift_start[c]; j > -shift_dec[c]; j -= shift_dec[c])
+            {
+               if (j > 0)
+                  value |= (png_uint_16)((v << j) & (png_uint_16)0xffff);
+               else
+                  value |= (png_uint_16)((v >> (-j)) & (png_uint_16)0xffff);
+            }
+            *bp++ = (png_byte)(value >> 8);
+            *bp++ = (png_byte)(value & 0xff);
+         }
+      }
+   }
+}
+#endif
+
+#if defined(PNG_WRITE_SWAP_ALPHA_SUPPORTED)
+void /* PRIVATE */
+png_do_write_swap_alpha(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_write_swap_alpha");
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row != NULL && row_info != NULL)
+#endif
+   {
+      if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+      {
+         /* This converts from ARGB to RGBA */
+         if (row_info->bit_depth == 8)
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               png_byte save = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = save;
+            }
+         }
+         /* This converts from AARRGGBB to RRGGBBAA */
+         else
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               png_byte save[2];
+               save[0] = *(sp++);
+               save[1] = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = save[0];
+               *(dp++) = save[1];
+            }
+         }
+      }
+      else if (row_info->color_type == PNG_COLOR_TYPE_GRAY_ALPHA)
+      {
+         /* This converts from AG to GA */
+         if (row_info->bit_depth == 8)
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               png_byte save = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = save;
+            }
+         }
+         /* This converts from AAGG to GGAA */
+         else
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               png_byte save[2];
+               save[0] = *(sp++);
+               save[1] = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = save[0];
+               *(dp++) = save[1];
+            }
+         }
+      }
+   }
+}
+#endif
+
+#if defined(PNG_WRITE_INVERT_ALPHA_SUPPORTED)
+void /* PRIVATE */
+png_do_write_invert_alpha(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_write_invert_alpha");
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row != NULL && row_info != NULL)
+#endif
+   {
+      if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+      {
+         /* This inverts the alpha channel in RGBA */
+         if (row_info->bit_depth == 8)
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               /* Does nothing
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               */
+               sp+=3; dp = sp;
+               *(dp++) = (png_byte)(255 - *(sp++));
+            }
+         }
+         /* This inverts the alpha channel in RRGGBBAA */
+         else
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               /* Does nothing
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               */
+               sp+=6; dp = sp;
+               *(dp++) = (png_byte)(255 - *(sp++));
+               *(dp++) = (png_byte)(255 - *(sp++));
+            }
+         }
+      }
+      else if (row_info->color_type == PNG_COLOR_TYPE_GRAY_ALPHA)
+      {
+         /* This inverts the alpha channel in GA */
+         if (row_info->bit_depth == 8)
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               *(dp++) = *(sp++);
+               *(dp++) = (png_byte)(255 - *(sp++));
+            }
+         }
+         /* This inverts the alpha channel in GGAA */
+         else
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               /* Does nothing
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               */
+               sp+=2; dp = sp;
+               *(dp++) = (png_byte)(255 - *(sp++));
+               *(dp++) = (png_byte)(255 - *(sp++));
+            }
+         }
+      }
+   }
+}
+#endif
+
+#if defined(PNG_MNG_FEATURES_SUPPORTED)
+/* Undoes intrapixel differencing  */
+void /* PRIVATE */
+png_do_write_intrapixel(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_write_intrapixel");
+   if (
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+       (row_info->color_type & PNG_COLOR_MASK_COLOR))
+   {
+      int bytes_per_pixel;
+      png_uint_32 row_width = row_info->width;
+      if (row_info->bit_depth == 8)
+      {
+         png_bytep rp;
+         png_uint_32 i;
+
+         if (row_info->color_type == PNG_COLOR_TYPE_RGB)
+            bytes_per_pixel = 3;
+         else if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+            bytes_per_pixel = 4;
+         else
+            return;
+
+         for (i = 0, rp = row; i < row_width; i++, rp += bytes_per_pixel)
+         {
+            *(rp)   = (png_byte)((*rp     - *(rp+1))&0xff);
+            *(rp+2) = (png_byte)((*(rp+2) - *(rp+1))&0xff);
+         }
+      }
+      else if (row_info->bit_depth == 16)
+      {
+         png_bytep rp;
+         png_uint_32 i;
+
+         if (row_info->color_type == PNG_COLOR_TYPE_RGB)
+            bytes_per_pixel = 6;
+         else if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+            bytes_per_pixel = 8;
+         else
+            return;
+
+         for (i = 0, rp = row; i < row_width; i++, rp += bytes_per_pixel)
+         {
+            png_uint_32 s0   = (*(rp  ) << 8) | *(rp+1);
+            png_uint_32 s1   = (*(rp+2) << 8) | *(rp+3);
+            png_uint_32 s2   = (*(rp+4) << 8) | *(rp+5);
+            png_uint_32 red  = (png_uint_32)((s0 - s1) & 0xffffL);
+            png_uint_32 blue = (png_uint_32)((s2 - s1) & 0xffffL);
+            *(rp  ) = (png_byte)((red >> 8) & 0xff);
+            *(rp+1) = (png_byte)(red & 0xff);
+            *(rp+4) = (png_byte)((blue >> 8) & 0xff);
+            *(rp+5) = (png_byte)(blue & 0xff);
+         }
+      }
+   }
+}
+#endif /* PNG_MNG_FEATURES_SUPPORTED */
+#endif /* PNG_WRITE_SUPPORTED */

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