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README.md

@@ -13,15 +13,27 @@ This ROS modules implements markers and a panel for Rviz for sending StateSpace
 
 ### asift_matching
 
+This ROS modules implements a wrapper for a SIFT based algorithm (Affine SIFT). It publish the position of a desired object, defined by its references, on a topic.
+Thus refrences are required for the module to work properly. It can be loaded through a text file or a series of images (which paths are defined in the launch file).
 
-* texte reference generation :
+* texte reference generation (BaxterInterface/asift_gen folder):
+ - Add the images used for reference in the "references" folder.
+ - open asift_match.cpp
+ - Search at the beggining of the file the "REFERENCE DEFINITION"
+ - In refData, enter the path/name of your reference images.
+ - In nb_ref, enter the number of images.
+ - cmake . && make
+ - You can now run the program which is going to build the references and try to match with an image given in input : asift_match input.png
+ - The generated text file will be located in the results folder.
 
 ## Status 
 ### Done
 
 ### Todo
-REGLER LE PROBLEME DE FRAME ...
+ASIFT_matcher : Issue on total number of match (after filtering ?).
-Problème dans le filtrage : nombre de points _> probleme de reset du nombre
+ROS_matcher : Working loader of images for reference.
+ROS_matcher : Improve reactivity. Slow process due to the message queue length ?
+ROS_matcher : Swap the callback function to a service called for matching.
 
 ## How to use it ?
 

README.md~

@@ -13,15 +13,26 @@ This ROS modules implements markers and a panel for Rviz for sending StateSpace
 
 ### asift_matching
 
+This ROS modules implements a wrapper for a SIFT based algorithm (Affine SIFT). It publish the position of a desired object, defined by its references, on a topic.
+Thus refrences are required for the module to work properly. It can be loaded through a text file or a series of images (which paths are defined in the launch file).
 
-* texte reference generation :
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+ - Add the images used for reference in the "references" folder.
+ - open asift_match.cpp
+ - Search at the beggining of the file the "REFERENCE DEFINITION"
+ - In refData, enter the path/name of your reference images.
+ - In nb_ref, enter the number of images.
+ - cmake . && make
+ - You can now run the program which is going to build the references and try to match with an image given in input : asift_match input.png
+ - The generated text file will be located in the results folder.
 
 ## Status 
 ### Done
 
 ### Todo
 REGLER LE PROBLEME DE FRAME ...
-Problème dans le filtrage ?
+Problème dans le filtrage : nombre de points _> probleme de reset du nombre
+ROS wrapper can't load images
 
 ## How to use it ?
 

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-  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
-# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
-# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
-# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
-
-#elif defined(__TINYC__)
-# define COMPILER_ID "TinyCC"
-
-#elif defined(__SCO_VERSION__)
-# define COMPILER_ID "SCO"
-
-#elif defined(__GNUC__)
-# define COMPILER_ID "GNU"
-# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
-# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
-# if defined(__GNUC_PATCHLEVEL__)
-#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
-# endif
-
-#elif defined(_MSC_VER)
-# define COMPILER_ID "MSVC"
-  /* _MSC_VER = VVRR */
-# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
-# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
-# if defined(_MSC_FULL_VER)
-#  if _MSC_VER >= 1400
-    /* _MSC_FULL_VER = VVRRPPPPP */
-#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
-#  else
-    /* _MSC_FULL_VER = VVRRPPPP */
-#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
-#  endif
-# endif
-# if defined(_MSC_BUILD)
-#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
-# endif
-
-/* Analog VisualDSP++ >= 4.5.6 */
-#elif defined(__VISUALDSPVERSION__)
-# define COMPILER_ID "ADSP"
-  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
-# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
-# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
-# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
-
-/* Analog VisualDSP++ < 4.5.6 */
-#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
-# define COMPILER_ID "ADSP"
-
-/* IAR Systems compiler for embedded systems.
-   http://www.iar.com */
-#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
-# define COMPILER_ID "IAR"
-
-/* sdcc, the small devices C compiler for embedded systems,
-   http://sdcc.sourceforge.net  */
-#elif defined(SDCC)
-# define COMPILER_ID "SDCC"
-  /* SDCC = VRP */
-#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
-#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
-#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
-
-#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
-# define COMPILER_ID "MIPSpro"
-# if defined(_SGI_COMPILER_VERSION)
-  /* _SGI_COMPILER_VERSION = VRP */
-#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
-#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
-#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
-# else
-  /* _COMPILER_VERSION = VRP */
-#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
-#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
-#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
-# endif
-
-/* This compiler is either not known or is too old to define an
-   identification macro.  Try to identify the platform and guess that
-   it is the native compiler.  */
-#elif defined(__sgi)
-# define COMPILER_ID "MIPSpro"
-
-#elif defined(__hpux) || defined(__hpua)
-# define COMPILER_ID "HP"
-
-#else /* unknown compiler */
-# define COMPILER_ID ""
-
-#endif
-
-/* Construct the string literal in pieces to prevent the source from
-   getting matched.  Store it in a pointer rather than an array
-   because some compilers will just produce instructions to fill the
-   array rather than assigning a pointer to a static array.  */
-char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
-
-/* Identify known platforms by name.  */
-#if defined(__linux) || defined(__linux__) || defined(linux)
-# define PLATFORM_ID "Linux"
-
-#elif defined(__CYGWIN__)
-# define PLATFORM_ID "Cygwin"
-
-#elif defined(__MINGW32__)
-# define PLATFORM_ID "MinGW"
-
-#elif defined(__APPLE__)
-# define PLATFORM_ID "Darwin"
-
-#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
-# define PLATFORM_ID "Windows"
-
-#elif defined(__FreeBSD__) || defined(__FreeBSD)
-# define PLATFORM_ID "FreeBSD"
-
-#elif defined(__NetBSD__) || defined(__NetBSD)
-# define PLATFORM_ID "NetBSD"
-
-#elif defined(__OpenBSD__) || defined(__OPENBSD)
-# define PLATFORM_ID "OpenBSD"
-
-#elif defined(__sun) || defined(sun)
-# define PLATFORM_ID "SunOS"
-
-#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
-# define PLATFORM_ID "AIX"
-
-#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
-# define PLATFORM_ID "IRIX"
-
-#elif defined(__hpux) || defined(__hpux__)
-# define PLATFORM_ID "HP-UX"
-
-#elif defined(__HAIKU__)
-# define PLATFORM_ID "Haiku"
-
-#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
-# define PLATFORM_ID "BeOS"
-
-#elif defined(__QNX__) || defined(__QNXNTO__)
-# define PLATFORM_ID "QNX"
-
-#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
-# define PLATFORM_ID "Tru64"
-
-#elif defined(__riscos) || defined(__riscos__)
-# define PLATFORM_ID "RISCos"
-
-#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
-# define PLATFORM_ID "SINIX"
-
-#elif defined(__UNIX_SV__)
-# define PLATFORM_ID "UNIX_SV"
-
-#elif defined(__bsdos__)
-# define PLATFORM_ID "BSDOS"
-
-#elif defined(_MPRAS) || defined(MPRAS)
-# define PLATFORM_ID "MP-RAS"
-
-#elif defined(__osf) || defined(__osf__)
-# define PLATFORM_ID "OSF1"
-
-#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
-# define PLATFORM_ID "SCO_SV"
-
-#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
-# define PLATFORM_ID "ULTRIX"
-
-#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
-# define PLATFORM_ID "Xenix"
-
-#else /* unknown platform */
-# define PLATFORM_ID ""
-
-#endif
-
-/* For windows compilers MSVC and Intel we can determine
-   the architecture of the compiler being used.  This is because
-   the compilers do not have flags that can change the architecture,
-   but rather depend on which compiler is being used
-*/
-#if defined(_WIN32) && defined(_MSC_VER)
-# if defined(_M_IA64)
-#  define ARCHITECTURE_ID "IA64"
-
-# elif defined(_M_X64) || defined(_M_AMD64)
-#  define ARCHITECTURE_ID "x64"
-
-# elif defined(_M_IX86)
-#  define ARCHITECTURE_ID "X86"
-
-# elif defined(_M_ARM)
-#  define ARCHITECTURE_ID "ARM"
-
-# elif defined(_M_MIPS)
-#  define ARCHITECTURE_ID "MIPS"
-
-# elif defined(_M_SH)
-#  define ARCHITECTURE_ID "SHx"
-
-# else /* unknown architecture */
-#  define ARCHITECTURE_ID ""
-# endif
-
-#else
-#  define ARCHITECTURE_ID ""
-#endif
-
-/* Convert integer to decimal digit literals.  */
-#define DEC(n)                   \
-  ('0' + (((n) / 10000000)%10)), \
-  ('0' + (((n) / 1000000)%10)),  \
-  ('0' + (((n) / 100000)%10)),   \
-  ('0' + (((n) / 10000)%10)),    \
-  ('0' + (((n) / 1000)%10)),     \
-  ('0' + (((n) / 100)%10)),      \
-  ('0' + (((n) / 10)%10)),       \
-  ('0' +  ((n) % 10))
-
-/* Convert integer to hex digit literals.  */
-#define HEX(n)             \
-  ('0' + ((n)>>28 & 0xF)), \
-  ('0' + ((n)>>24 & 0xF)), \
-  ('0' + ((n)>>20 & 0xF)), \
-  ('0' + ((n)>>16 & 0xF)), \
-  ('0' + ((n)>>12 & 0xF)), \
-  ('0' + ((n)>>8  & 0xF)), \
-  ('0' + ((n)>>4  & 0xF)), \
-  ('0' + ((n)     & 0xF))
-
-/* Construct a string literal encoding the version number components. */
-#ifdef COMPILER_VERSION_MAJOR
-char const info_version[] = {
-  'I', 'N', 'F', 'O', ':',
-  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
-  COMPILER_VERSION_MAJOR,
-# ifdef COMPILER_VERSION_MINOR
-  '.', COMPILER_VERSION_MINOR,
-#  ifdef COMPILER_VERSION_PATCH
-   '.', COMPILER_VERSION_PATCH,
-#   ifdef COMPILER_VERSION_TWEAK
-    '.', COMPILER_VERSION_TWEAK,
-#   endif
-#  endif
-# endif
-  ']','\0'};
-#endif
-
-/* Construct the string literal in pieces to prevent the source from
-   getting matched.  Store it in a pointer rather than an array
-   because some compilers will just produce instructions to fill the
-   array rather than assigning a pointer to a static array.  */
-char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
-char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
-
-
-
-/*--------------------------------------------------------------------------*/
-
-#ifdef ID_VOID_MAIN
-void main() {}
-#else
-int main(int argc, char* argv[])
-{
-  int require = 0;
-  require += info_compiler[argc];
-  require += info_platform[argc];
-  require += info_arch[argc];
-#ifdef COMPILER_VERSION_MAJOR
-  require += info_version[argc];
-#endif
-  (void)argv;
-  return require;
-}
-#endif

Visp_tests/tutorial-tracking-mb/object/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp

@@ -1,377 +0,0 @@
-/* This source file must have a .cpp extension so that all C++ compilers
-   recognize the extension without flags.  Borland does not know .cxx for
-   example.  */
-#ifndef __cplusplus
-# error "A C compiler has been selected for C++."
-#endif
-
-/* Version number components: V=Version, R=Revision, P=Patch
-   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
-
-#if defined(__COMO__)
-# define COMPILER_ID "Comeau"
-  /* __COMO_VERSION__ = VRR */
-# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
-# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
-
-#elif defined(__INTEL_COMPILER) || defined(__ICC)
-# define COMPILER_ID "Intel"
-  /* __INTEL_COMPILER = VRP */
-# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
-# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
-# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER    % 10)
-# if defined(__INTEL_COMPILER_BUILD_DATE)
-  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
-#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
-# endif
-
-#elif defined(__PATHCC__)
-# define COMPILER_ID "PathScale"
-# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
-# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
-# if defined(__PATHCC_PATCHLEVEL__)
-#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
-# endif
-
-#elif defined(__clang__)
-# define COMPILER_ID "Clang"
-# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
-# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
-# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
-
-#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
-# define COMPILER_ID "Embarcadero"
-# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
-# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
-# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__     & 0xFFFF)
-
-#elif defined(__BORLANDC__)
-# define COMPILER_ID "Borland"
-  /* __BORLANDC__ = 0xVRR */
-# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
-# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
-
-#elif defined(__WATCOMC__)
-# define COMPILER_ID "Watcom"
-  /* __WATCOMC__ = VVRR */
-# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
-# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100)
-
-#elif defined(__SUNPRO_CC)
-# define COMPILER_ID "SunPro"
-# if __SUNPRO_CC >= 0x5100
-   /* __SUNPRO_CC = 0xVRRP */
-#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
-#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
-#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
-# else
-   /* __SUNPRO_CC = 0xVRP */
-#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
-#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
-#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
-# endif
-
-#elif defined(__HP_aCC)
-# define COMPILER_ID "HP"
-  /* __HP_aCC = VVRRPP */
-# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
-# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
-# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
-
-#elif defined(__DECCXX)
-# define COMPILER_ID "Compaq"
-  /* __DECCXX_VER = VVRRTPPPP */
-# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
-# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
-# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
-
-#elif defined(__IBMCPP__)
-# if defined(__COMPILER_VER__)
-#  define COMPILER_ID "zOS"
-# else
-#  if __IBMCPP__ >= 800
-#   define COMPILER_ID "XL"
-#  else
-#   define COMPILER_ID "VisualAge"
-#  endif
-   /* __IBMCPP__ = VRP */
-#  define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
-#  define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
-#  define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
-# endif
-
-#elif defined(__PGI)
-# define COMPILER_ID "PGI"
-# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
-# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
-# if defined(__PGIC_PATCHLEVEL__)
-#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
-# endif
-
-#elif defined(_CRAYC)
-# define COMPILER_ID "Cray"
-# define COMPILER_VERSION_MAJOR DEC(_RELEASE)
-# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
-
-#elif defined(__TI_COMPILER_VERSION__)
-# define COMPILER_ID "TI"
-  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
-# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
-# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
-# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
-
-#elif defined(__SCO_VERSION__)
-# define COMPILER_ID "SCO"
-
-#elif defined(__GNUC__)
-# define COMPILER_ID "GNU"
-# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
-# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
-# if defined(__GNUC_PATCHLEVEL__)
-#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
-# endif
-
-#elif defined(_MSC_VER)
-# define COMPILER_ID "MSVC"
-  /* _MSC_VER = VVRR */
-# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
-# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
-# if defined(_MSC_FULL_VER)
-#  if _MSC_VER >= 1400
-    /* _MSC_FULL_VER = VVRRPPPPP */
-#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
-#  else
-    /* _MSC_FULL_VER = VVRRPPPP */
-#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
-#  endif
-# endif
-# if defined(_MSC_BUILD)
-#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
-# endif
-
-/* Analog VisualDSP++ >= 4.5.6 */
-#elif defined(__VISUALDSPVERSION__)
-# define COMPILER_ID "ADSP"
-  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
-# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
-# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
-# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
-
-/* Analog VisualDSP++ < 4.5.6 */
-#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
-# define COMPILER_ID "ADSP"
-
-/* IAR Systems compiler for embedded systems.
-   http://www.iar.com */
-#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
-# define COMPILER_ID "IAR"
-
-#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
-# define COMPILER_ID "MIPSpro"
-# if defined(_SGI_COMPILER_VERSION)
-  /* _SGI_COMPILER_VERSION = VRP */
-#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
-#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
-#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
-# else
-  /* _COMPILER_VERSION = VRP */
-#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
-#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
-#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
-# endif
-
-/* This compiler is either not known or is too old to define an
-   identification macro.  Try to identify the platform and guess that
-   it is the native compiler.  */
-#elif defined(__sgi)
-# define COMPILER_ID "MIPSpro"
-
-#elif defined(__hpux) || defined(__hpua)
-# define COMPILER_ID "HP"
-
-#else /* unknown compiler */
-# define COMPILER_ID ""
-
-#endif
-
-/* Construct the string literal in pieces to prevent the source from
-   getting matched.  Store it in a pointer rather than an array
-   because some compilers will just produce instructions to fill the
-   array rather than assigning a pointer to a static array.  */
-char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
-
-/* Identify known platforms by name.  */
-#if defined(__linux) || defined(__linux__) || defined(linux)
-# define PLATFORM_ID "Linux"
-
-#elif defined(__CYGWIN__)
-# define PLATFORM_ID "Cygwin"
-
-#elif defined(__MINGW32__)
-# define PLATFORM_ID "MinGW"
-
-#elif defined(__APPLE__)
-# define PLATFORM_ID "Darwin"
-
-#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
-# define PLATFORM_ID "Windows"
-
-#elif defined(__FreeBSD__) || defined(__FreeBSD)
-# define PLATFORM_ID "FreeBSD"
-
-#elif defined(__NetBSD__) || defined(__NetBSD)
-# define PLATFORM_ID "NetBSD"
-
-#elif defined(__OpenBSD__) || defined(__OPENBSD)
-# define PLATFORM_ID "OpenBSD"
-
-#elif defined(__sun) || defined(sun)
-# define PLATFORM_ID "SunOS"
-
-#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
-# define PLATFORM_ID "AIX"
-
-#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
-# define PLATFORM_ID "IRIX"
-
-#elif defined(__hpux) || defined(__hpux__)
-# define PLATFORM_ID "HP-UX"
-
-#elif defined(__HAIKU__)
-# define PLATFORM_ID "Haiku"
-
-#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
-# define PLATFORM_ID "BeOS"
-
-#elif defined(__QNX__) || defined(__QNXNTO__)
-# define PLATFORM_ID "QNX"
-
-#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
-# define PLATFORM_ID "Tru64"
-
-#elif defined(__riscos) || defined(__riscos__)
-# define PLATFORM_ID "RISCos"
-
-#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
-# define PLATFORM_ID "SINIX"
-
-#elif defined(__UNIX_SV__)
-# define PLATFORM_ID "UNIX_SV"
-
-#elif defined(__bsdos__)
-# define PLATFORM_ID "BSDOS"
-
-#elif defined(_MPRAS) || defined(MPRAS)
-# define PLATFORM_ID "MP-RAS"
-
-#elif defined(__osf) || defined(__osf__)
-# define PLATFORM_ID "OSF1"
-
-#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
-# define PLATFORM_ID "SCO_SV"
-
-#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
-# define PLATFORM_ID "ULTRIX"
-
-#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
-# define PLATFORM_ID "Xenix"
-
-#else /* unknown platform */
-# define PLATFORM_ID ""
-
-#endif
-
-/* For windows compilers MSVC and Intel we can determine
-   the architecture of the compiler being used.  This is because
-   the compilers do not have flags that can change the architecture,
-   but rather depend on which compiler is being used
-*/
-#if defined(_WIN32) && defined(_MSC_VER)
-# if defined(_M_IA64)
-#  define ARCHITECTURE_ID "IA64"
-
-# elif defined(_M_X64) || defined(_M_AMD64)
-#  define ARCHITECTURE_ID "x64"
-
-# elif defined(_M_IX86)
-#  define ARCHITECTURE_ID "X86"
-
-# elif defined(_M_ARM)
-#  define ARCHITECTURE_ID "ARM"
-
-# elif defined(_M_MIPS)
-#  define ARCHITECTURE_ID "MIPS"
-
-# elif defined(_M_SH)
-#  define ARCHITECTURE_ID "SHx"
-
-# else /* unknown architecture */
-#  define ARCHITECTURE_ID ""
-# endif
-
-#else
-#  define ARCHITECTURE_ID ""
-#endif
-
-/* Convert integer to decimal digit literals.  */
-#define DEC(n)                   \
-  ('0' + (((n) / 10000000)%10)), \
-  ('0' + (((n) / 1000000)%10)),  \
-  ('0' + (((n) / 100000)%10)),   \
-  ('0' + (((n) / 10000)%10)),    \
-  ('0' + (((n) / 1000)%10)),     \
-  ('0' + (((n) / 100)%10)),      \
-  ('0' + (((n) / 10)%10)),       \
-  ('0' +  ((n) % 10))
-
-/* Convert integer to hex digit literals.  */
-#define HEX(n)             \
-  ('0' + ((n)>>28 & 0xF)), \
-  ('0' + ((n)>>24 & 0xF)), \
-  ('0' + ((n)>>20 & 0xF)), \
-  ('0' + ((n)>>16 & 0xF)), \
-  ('0' + ((n)>>12 & 0xF)), \
-  ('0' + ((n)>>8  & 0xF)), \
-  ('0' + ((n)>>4  & 0xF)), \
-  ('0' + ((n)     & 0xF))
-
-/* Construct a string literal encoding the version number components. */
-#ifdef COMPILER_VERSION_MAJOR
-char const info_version[] = {
-  'I', 'N', 'F', 'O', ':',
-  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
-  COMPILER_VERSION_MAJOR,
-# ifdef COMPILER_VERSION_MINOR
-  '.', COMPILER_VERSION_MINOR,
-#  ifdef COMPILER_VERSION_PATCH
-   '.', COMPILER_VERSION_PATCH,
-#   ifdef COMPILER_VERSION_TWEAK
-    '.', COMPILER_VERSION_TWEAK,
-#   endif
-#  endif
-# endif
-  ']','\0'};
-#endif
-
-/* Construct the string literal in pieces to prevent the source from
-   getting matched.  Store it in a pointer rather than an array
-   because some compilers will just produce instructions to fill the
-   array rather than assigning a pointer to a static array.  */
-char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
-char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
-
-
-
-/*--------------------------------------------------------------------------*/
-
-int main(int argc, char* argv[])
-{
-  int require = 0;
-  require += info_compiler[argc];
-  require += info_platform[argc];
-#ifdef COMPILER_VERSION_MAJOR
-  require += info_version[argc];
-#endif
-  (void)argv;
-  return require;
-}

Visp_tests/tutorial-tracking-mb/object/CMakeFiles/cmake.check_cache

@@ -1 +0,0 @@
-# This file is generated by cmake for dependency checking of the CMakeCache.txt file

asift_gen/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(asift_match asift_match.cpp ASIFT_matcher.cpp ${ASIFT_srcs})
+TARGET_LINK_LIBRARIES(asift_match png zlib Match Numerics X11)
+

asift_gen/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)
+

asift_gen/Makefile

@@ -39,10 +39,10 @@ RM = /usr/bin/cmake -E remove -f
 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
+CMAKE_SOURCE_DIR = /home/harle/catkin_ws/src/BaxterInterface/asift_tests
 
 # The top-level build directory on which CMake was run.
-CMAKE_BINARY_DIR = /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src
+CMAKE_BINARY_DIR = /home/harle/catkin_ws/src/BaxterInterface/asift_tests
 
 #=============================================================================
 # Targets provided globally by CMake.
@@ -69,9 +69,9 @@ rebuild_cache/fast: rebuild_cache
 
 # The main all target
 all: cmake_check_build_system
-	$(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/CMakeFiles/progress.marks
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/harle/catkin_ws/src/BaxterInterface/asift_tests/CMakeFiles /home/harle/catkin_ws/src/BaxterInterface/asift_tests/CMakeFiles/progress.marks
 	$(MAKE) -f CMakeFiles/Makefile2 all
-	$(CMAKE_COMMAND) -E cmake_progress_start /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/CMakeFiles 0
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/harle/catkin_ws/src/BaxterInterface/asift_tests/CMakeFiles 0
 .PHONY : all
 
 # The main clean target

asift_gen/asift_match.cpp

@@ -0,0 +1,248 @@
+#include "ASIFT_matcher.hpp"
+
+int main(int argc, char **argv)
+{			
+	if ((argc <2) || (argc > 5)) {
+        std::cerr << " ******************************************************************************* " << std::endl
+				  << " ***************************  ASIFT image matching  **************************** " << std::endl
+				  << " ******************************************************************************* " << std::endl
+				  << "Usage: " << argv[0] << " imgIn.png [Tilt number option] [Filter option] [Resize option] " << std::endl
+									      << "- imgIn.png: input image. " << std::endl
+									      << "- [Tilt number option: 1..(32+ ?)] : 7: Recommended / 1: no tilt. " << std::endl
+									      << "- [Filter option: 0..3]. Standard deviation filter coeff (1-68%/2-95%/3-99%). 0: no filtering (default). " << std::endl 
+										  << "- [Resize option: 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;
+    }
+	
+    char* output_img = "./results/res.png";
+    char* output_match = "./results/matching.txt";
+    char* output_references = "./results/references.txt";
+
+    //REFERENCE DEFINITION
+    unsigned int nb_ref =2;
+	std::string refData[] = {
+      "references/000.png", 
+      "references/train_image_001.jpg"};
+    //REFERE?CE DEFINITION
+
+    cimg_library::CImg<float> image;
+	try
+	{
+		image =cimg_library::CImg<float>(argv[1]);
+	}
+	catch(cimg_library::CImgIOException)
+	{
+		std::cerr << "Unable to load image file " << argv[1] << 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;
+	}
+	vector<float> ipixels1;
+    int w1=gray.width(), h1=gray.height();
+    ipixels1.assign(gray.begin(), gray.end());
+
+    // cout<<"Image size : "<<ipixels1.size()<<" - "<<image.spectrum()<<" - "<<w1<<" / "<<h1<<endl;
+	///// 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;	
+		
+	int flag_resize = 1;
+	if (argc == 5)
+	{	
+		flag_resize = atoi(argv[4]);
+	}
+	
+	if (flag_resize != 0)
+	{
+		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;
+	}
+
+    int tilt_ref = 7, tilt_input = 1;
+    int nb_match;
+
+    if(argc>2)
+    {
+    	tilt_ref = atoi(argv[2]);
+    	tilt_input = atoi(argv[2]);
+    }
+
+    ASIFT_matcher matcher;
+    matcher.resizeImg(flag_resize);
+    // matcher.showInfo(false);
+
+    time_t tstart, tend;
+	tstart = time(0);
+
+	for(unsigned int i=0; i<nb_ref;i++)
+	{
+		matcher.addReference(refData[i].c_str(), tilt_ref);
+	}
+
+	std::cout<<"Saving..."<<std::endl;
+	matcher.saveReferences(output_references);
+	// matcher.print();
+	// std::cout<<"Loading..."<<std::endl;
+	// matcher.loadReferences(output_references);
+	// std::cout<<"Saving..."<<std::endl;
+	// matcher.saveReferences("./results/references2.txt");
+	// matcher.print();
+
+	nb_match = matcher.match(ipixels1_zoom, wS1, hS1, tilt_input);
+
+	if(argc>3 && atoi(argv[3])>0)
+		matcher.distFilter(atoi(argv[3]));
+
+	tend = time(0);
+
+    vector<unsigned int> NbMatch = matcher.getNbMatchs();
+    cout<<"Computation Time : "<<difftime(tend, tstart)<<" seconds." << endl;
+    cout<<"Nb matching reference : "<<NbMatch.size()<<endl;
+    for(unsigned int i=0; i<NbMatch.size(); i++)
+    {
+    	cout<<"  Ref "<<i<<" : "<<NbMatch[i]<<endl;
+    }
+
+	int x,y,cx,cy;
+	unsigned int h,w;
+	
+	float *opixelsASIFT = new float[w1*h1];
+	/////////////////////////////////////////////////////////////////// Copy image to output
+	for(int j = 0; j < (int) h1; j++)
+		for(int i = 0; i < (int) w1; i++)  opixelsASIFT[j*w1+i] = ipixels1[j*w1+i];	
+
+	//////////////////////////////////////////////////////////////////// Draw matches
+	int point_size = 2;
+	for(unsigned int j=0; j<matcher.getMatch().size();j++)
+	{
+		matchingslist::iterator ptrH = matcher.getMatch()[j].begin();
+		for(int i=0; i < (int) matcher.getMatch()[j].size(); i++, ptrH++)
+		{		
+			draw_square(opixelsASIFT, (int) (zoom1*ptrH->first.x), (int) (zoom1*ptrH->first.y), point_size, point_size, 255, w1, h1);
+		}
+	}
+
+	//////////////////////////////////////////////////////////////////// Draw ROI	
+	if(matcher.computeROI(x,y,h,w))
+		draw_square(opixelsASIFT, zoom1*x, zoom1*y, zoom1*w, zoom1*h, 255, w1, h1);
+	
+	//////////////////////////////////////////////////////////////////// Draw Center
+	if(matcher.computeCenter(cx,cy))
+	{
+		draw_square(opixelsASIFT, zoom1*(cx-6), zoom1*(cy-6), zoom1*12, zoom1*12, 160, w1, h1);
+		draw_line(opixelsASIFT, zoom1*cx, zoom1*(cy-6), zoom1*cx, zoom1*(cy+6), 255, w1, h1);
+		draw_line(opixelsASIFT, zoom1*(cx-6), zoom1*cy, zoom1*(cx+6), zoom1*cy, 255, w1, h1);
+	}
+
+	///////////////////////////////////////////////////////////////// Save imgOut	
+	// write_png_f32(output_img, opixelsASIFT, w1, h1, 1);
+	image.assign(opixelsASIFT,w1,h1);
+	image.save(output_img);
+	
+	delete[] opixelsASIFT; /*memcheck*/
+	
+	////// Write the coordinates of the matched points (row1, col1, row2, col2)
+	std::ofstream file(output_match);
+	if (file.is_open())
+	{		
+		// Write the number of matchings and number of references in the first line
+		file << nb_match <<"  "<<matcher.getNbRef() <<std::endl;
+
+		for(unsigned int i =0; i<matcher.getNbRef();i++)
+		{
+			//Write reference indice before match
+			file<<i<<std::endl;
+			matchingslist matchings = matcher.getMatch()[i];
+			matchingslist::iterator ptr = matchings.begin();
+			for(int i=0; i < (int) matchings.size(); i++, ptr++)		
+			{
+				file << zoom1*ptr->first.x << "  " << zoom1*ptr->first.y << "  " <<  matcher.getZoomRef()[i]*ptr->second.x << 
+				"  " <<  matcher.getZoomRef()[i]*ptr->second.y << std::endl;
+			}
+		}	
+	}
+	else 
+	{
+		std::cerr << "Unable to open the file matchings."; 
+	}
+
+	file.close();
+
+    return 0;
+}

asift_gen/io_png/CMakeFiles/CMakeDirectoryInformation.cmake

@@ -2,8 +2,8 @@
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 # 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_SOURCE "/home/harle/catkin_ws/src/BaxterInterface/asift_tests")
-SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/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")
 
 # Force unix paths in dependencies.
 SET(CMAKE_FORCE_UNIX_PATHS 1)

asift_gen/io_png/Makefile

@@ -0,0 +1,122 @@
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+# 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.
+
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+
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+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
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+
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+.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
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/harle/catkin_ws/src/BaxterInterface/asift_tests
+
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+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+.PHONY : edit_cache/fast
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+	/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
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+# The main all target
+all: cmake_check_build_system
+	cd /home/harle/catkin_ws/src/BaxterInterface/asift_tests && $(CMAKE_COMMAND) -E cmake_progress_start /home/harle/catkin_ws/src/BaxterInterface/asift_tests/CMakeFiles /home/harle/catkin_ws/src/BaxterInterface/asift_tests/io_png/CMakeFiles/progress.marks
+	cd /home/harle/catkin_ws/src/BaxterInterface/asift_tests && $(MAKE) -f CMakeFiles/Makefile2 io_png/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/harle/catkin_ws/src/BaxterInterface/asift_tests/CMakeFiles 0
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+# The main clean target
+clean/fast: clean
+.PHONY : clean/fast
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+.PHONY : preinstall
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+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${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)
+