Debut Tests ASIFT + Essai VISP simplifié

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp

@@ -0,0 +1,246 @@
+#include "ASIFT_matcher.hpp"
+
+ASIFT_matcher::ASIFT_matcher()
+{
+	default_sift_parameters(_siftParam);
+}
+
+ASIFT_matcher::~ASIFT_matcher()
+{
+
+}
+
+bool ASIFT_matcher::addReference(const char* image, int num_tilts = 1)
+{
+	///// Read input
+	float * iarr1;
+    size_t w1, h1;
+    if (NULL == (iarr1 = read_png_f32_gray(image, &w1, &h1))) {
+        std::cerr << "Unable to load image file " << image << std::endl;
+        return false;
+    }
+    std::vector<float> ipixels1(iarr1, iarr1 + w1 * h1);
+	free(iarr1); /*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;	
+	int wS1=0, hS1=0;
+	vector<float> ipixels1_zoom;
+
+	if(resize_imgs)
+	{
+		cout << "WARNING: The input image is resized to " << wS << "x" << hS << " for ASIFT. " << endl 
+		<< "         But the results will be normalized to the original image size." << endl << endl;
+		
+		float InitSigma_aa = 1.6;
+		
+		float fproj_p, fproj_bg;
+		char fproj_i;
+		float *fproj_x4, *fproj_y4;
+		int fproj_o;
+
+		fproj_o = 3;
+		fproj_p = 0;
+		fproj_i = 0;
+		fproj_bg = 0;
+		fproj_x4 = 0;
+		fproj_y4 = 0;
+				
+		float areaS = wS * hS;
+
+		// Resize image 1 
+		float area1 = w1 * h1;
+		zoom1 = sqrt(area1/areaS);
+		
+		wS1 = (int) (w1 / zoom1);
+		hS1 = (int) (h1 / zoom1);
+		
+		int fproj_sx = wS1;
+		int fproj_sy = hS1;     
+		
+		float fproj_x1 = 0;
+		float fproj_y1 = 0;
+		float fproj_x2 = wS1;
+		float fproj_y2 = 0;
+		float fproj_x3 = 0;	     
+		float fproj_y3 = hS1;
+		
+		/* Anti-aliasing filtering along vertical direction */
+		if ( zoom1 > 1 )
+		{
+			float sigma_aa = InitSigma_aa * zoom1 / 2;
+			GaussianBlur1D(ipixels1,w1,h1,sigma_aa,1);
+			GaussianBlur1D(ipixels1,w1,h1,sigma_aa,0);
+		}
+			
+		// simulate a tilt: subsample the image along the vertical axis by a factor of t.
+		ipixels1_zoom.resize(wS1*hS1);
+		fproj (ipixels1, ipixels1_zoom, w1, h1, &fproj_sx, &fproj_sy, &fproj_bg, &fproj_o, &fproj_p, 
+			   &fproj_i , fproj_x1 , fproj_y1 , fproj_x2 , fproj_y2 , fproj_x3 , fproj_y3, fproj_x4, fproj_y4); 
+	}
+	else
+	{
+		ipixels1_zoom.resize(w1*h1);	
+		ipixels1_zoom = ipixels1;
+		wS1 = w1;
+		hS1 = h1;
+		zoom1 = 1;
+	}
+
+	// image new_ref;
+	// new_ref.img = ipixels1_zoom;
+	// new_ref.width = wS1;
+	// new_ref.height = hS1;
+
+
+	///// Compute ASIFT keypoints
+	vector< vector< keypointslist > > keys;
+	int num_keys = 0;
+
+	time_t tstart, tend;
+	tstart = time(0);
+
+	num_keys = compute_asift_keypoints(ipixels1_zoom, wS1, hS1, num_tilts, _verb, keys, _siftParam);
+
+	tend = time(0);
+
+	//Save data
+	_im_refs.push_back(ipixels1_zoom);
+	_size_refs.push_back(make_pair(wS1,hS1));
+
+	_num_keys.push_back(num_keys);
+	_num_tilts.push_back(num_tilts);
+	_keys.push_back(keys);
+
+	_nb_refs++;
+
+	cout<<"Reference built in "<< difftime(tend, tstart) << " seconds." << endl;
+	cout<<"		"<< num_keys <<" ASIFT keypoints found in "<< image << endl;
+
+	return true;
+}
+
+bool ASIFT_matcher::match(const char* image, int num_tilts = 1)
+{
+	if(_nb_refs<=0)
+	{
+		cout<<"ASIFT_matcher Error : Trying to match without reference"<<endl;
+		return false;
+	}
+
+	///// Read input
+	float * iarr1;
+    size_t w1, h1;
+    if (NULL == (iarr1 = read_png_f32_gray(image, &w1, &h1))) {
+        std::cerr << "Unable to load image file " << image << std::endl;
+        return 1;
+    }
+    std::vector<float> ipixels1(iarr1, iarr1 + w1 * h1);
+	free(iarr1); /*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;	
+	int wS1=0, hS1=0;
+	vector<float> ipixels1_zoom;
+
+	if(resize_imgs)
+	{
+		cout << "WARNING: The input image is resized to " << wS << "x" << hS << " for ASIFT. " << endl 
+		<< "         But the results will be normalized to the original image size." << endl << endl;
+		
+		float InitSigma_aa = 1.6;
+		
+		float fproj_p, fproj_bg;
+		char fproj_i;
+		float *fproj_x4, *fproj_y4;
+		int fproj_o;
+
+		fproj_o = 3;
+		fproj_p = 0;
+		fproj_i = 0;
+		fproj_bg = 0;
+		fproj_x4 = 0;
+		fproj_y4 = 0;
+				
+		float areaS = wS * hS;
+
+		// Resize image 1 
+		float area1 = w1 * h1;
+		zoom1 = sqrt(area1/areaS);
+		
+		wS1 = (int) (w1 / zoom1);
+		hS1 = (int) (h1 / zoom1);
+		
+		int fproj_sx = wS1;
+		int fproj_sy = hS1;     
+		
+		float fproj_x1 = 0;
+		float fproj_y1 = 0;
+		float fproj_x2 = wS1;
+		float fproj_y2 = 0;
+		float fproj_x3 = 0;	     
+		float fproj_y3 = hS1;
+		
+		/* Anti-aliasing filtering along vertical direction */
+		if ( zoom1 > 1 )
+		{
+			float sigma_aa = InitSigma_aa * zoom1 / 2;
+			GaussianBlur1D(ipixels1,w1,h1,sigma_aa,1);
+			GaussianBlur1D(ipixels1,w1,h1,sigma_aa,0);
+		}
+			
+		// simulate a tilt: subsample the image along the vertical axis by a factor of t.
+		ipixels1_zoom.resize(wS1*hS1);
+		fproj (ipixels1, ipixels1_zoom, w1, h1, &fproj_sx, &fproj_sy, &fproj_bg, &fproj_o, &fproj_p, 
+			   &fproj_i , fproj_x1 , fproj_y1 , fproj_x2 , fproj_y2 , fproj_x3 , fproj_y3, fproj_x4, fproj_y4); 
+	}
+	else
+	{
+		ipixels1_zoom.resize(w1*h1);	
+		ipixels1_zoom = ipixels1;
+		wS1 = w1;
+		hS1 = h1;
+		zoom1 = 1;
+	}
+
+	///// Compute ASIFT keypoints
+	vector< vector< keypointslist > > keys;
+	int num_keys = 0;
+
+	time_t tstart, tend;
+	tstart = time(0);
+
+	num_keys = compute_asift_keypoints(ipixels1_zoom, wS1, hS1, num_tilts, _verb, keys, _siftParam);
+
+	tend = time(0);
+	cout << "Keypoints computation accomplished in " << difftime(tend, tstart) << " seconds." << endl;
+
+	//// Match ASIFT keypoints
+	int num_matchings;
+	matchingslist matchings;	
+
+	_num_matchings.clear();
+	_matchings.clear();
+
+	for(unsigned int i = 0; i<_nb_refs;i++)
+	{
+		cout << "Matching the keypoints..." << endl;
+		tstart = time(0);
+		num_matchings = compute_asift_matches(num_tilts, _num_tilts[i], wS1, hS1, _size_refs[i].first, _size_refs[i].second, _verb, keys, _keys[i], matchings, _siftParam);
+		tend = time(0);
+		cout << "Keypoints matching accomplished in " << difftime(tend, tstart) << " seconds." << endl;
+
+		_num_matchings.push_back(num_matchings);
+		_matchings.push_back(matchings);
+	}
+
+	return true;
+}

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp

@@ -0,0 +1,63 @@
+#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
+
+// struct image
+// {
+// 	vector<float> img;
+// 	int width;
+// 	int height;
+// } image;
+
+class ASIFT_matcher
+{
+public:
+	ASIFT_matcher();
+	virtual ~ASIFT_matcher();
+
+	bool addReference(const char* image, int num_tilts);
+	bool match(const char* image, int num_tilts);
+	
+protected:
+	//QUESCEQUESAI
+	int _verb = 0;
+
+	//Reference Images
+	// vector< image > _im_refs;
+	unsigned int _nb_refs = 0;
+	vector< vector< float > > _im_refs;
+	vector< pair<int,int> > _size_refs; //Width/Height
+
+	//ASIFT Keypoints
+	vector< int > _num_keys;
+	vector< int > _num_tilts; //Speed VS Precision
+	vector< vector< vector< keypointslist > > > _keys;
+
+	//Matchs
+	vector < int > _num_matchings;
+	vector< matchingslist > _matchings;
+
+	siftPar _siftParam;	
+
+	//Flags
+	bool resize_imgs = false;
+};

ASIFT_tests/demo_ASIFT_src/CMakeCache.txt

@@ -0,0 +1,361 @@
+# This is the CMakeCache file.
+# For build in directory: /home/harle/catkin_ws/src/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/demo_ASIFT_src
+
+//Value Computed by CMake
+ASIFT_SOURCE_DIR:STATIC=/home/harle/catkin_ws/src/demo_ASIFT_src
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//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.
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+
+//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.
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+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/usr/local
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
+
+//Flags used by the linker during the creation of modules.
+CMAKE_MODULE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_NM:FILEPATH=/usr/bin/nm
+
+//Path to a program.
+CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
+
+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=ASIFT
+
+//Path to a program.
+CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
+
+//Flags used by the linker during the creation of dll's.
+CMAKE_SHARED_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
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+
+//Flags used by the linker during release minsize builds.
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
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+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Flags used by the linker during the creation of static libraries.
+CMAKE_STATIC_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during debug builds.
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+
+//Flags used by the linker during release minsize builds.
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+
+//Flags used by the linker during release builds.
+CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//If true, cmake will use relative paths in makefiles and projects.
+CMAKE_USE_RELATIVE_PATHS:BOOL=OFF
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Dependencies for target
+Match_LIB_DEPENDS:STATIC=
+
+//Dependencies for target
+Numerics_LIB_DEPENDS:STATIC=
+
+//C++ compiler flags for OpenMP parallization
+OpenMP_CXX_FLAGS:STRING=-fopenmp
+
+//C compiler flags for OpenMP parallization
+OpenMP_C_FLAGS:STRING=-fopenmp
+
+//Value Computed by CMake
+libMatch_BINARY_DIR:STATIC=/home/harle/catkin_ws/src/demo_ASIFT_src/libMatch
+
+//Value Computed by CMake
+libMatch_SOURCE_DIR:STATIC=/home/harle/catkin_ws/src/demo_ASIFT_src/libMatch
+
+//Value Computed by CMake
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+
+//Value Computed by CMake
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+
+//Value Computed by CMake
+png_BINARY_DIR:STATIC=/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png
+
+//Dependencies for the target
+png_LIB_DEPENDS:STATIC=general;zlib;
+
+//Value Computed by CMake
+png_SOURCE_DIR:STATIC=/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png
+
+//Value Computed by CMake
+zlib_BINARY_DIR:STATIC=/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/zlib
+
+//Dependencies for target
+zlib_LIB_DEPENDS:STATIC=
+
+//Value Computed by CMake
+zlib_SOURCE_DIR:STATIC=/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/zlib
+
+
+########################
+# INTERNAL cache entries
+########################
+
+//ADVANCED property for variable: CMAKE_AR
+CMAKE_AR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_BUILD_TOOL
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+//What is the target build tool cmake is generating for.
+CMAKE_BUILD_TOOL:INTERNAL=/usr/bin/make
+//This is the directory where this CMakeCache.txt was created
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+//Major version of cmake used to create the current loaded cache
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+
+if(CMAKE_C_SIZEOF_DATA_PTR)
+  set(CMAKE_SIZEOF_VOID_P "${CMAKE_C_SIZEOF_DATA_PTR}")
+endif()
+
+if(CMAKE_C_COMPILER_ABI)
+  set(CMAKE_INTERNAL_PLATFORM_ABI "${CMAKE_C_COMPILER_ABI}")
+endif()
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+  set(CMAKE_LIBRARY_ARCHITECTURE "x86_64-linux-gnu")
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+
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ASIFT_tests/demo_ASIFT_src/CMakeFiles/2.8.12.2/CompilerIdC/CMakeCCompilerId.c

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+#endif
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__18CXX)
+# define ID_VOID_MAIN
+#endif
+
+#if 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_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+   /* __SUNPRO_C = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# else
+   /* __SUNPRO_C = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+  /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc     % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+  /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER         % 10000)
+
+#elif defined(__IBMC__)
+# if defined(__COMPILER_VER__)
+#  define COMPILER_ID "zOS"
+# else
+#  if __IBMC__ >= 800
+#   define COMPILER_ID "XL"
+#  else
+#   define COMPILER_ID "VisualAge"
+#  endif
+   /* __IBMC__ = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+#  define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(__IBMC__    % 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(__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)
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+#else /* unknown compiler */
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+#endif
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+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"
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+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
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+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
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+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
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+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
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+#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"
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+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
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+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
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+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
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+
+#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"
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+#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)
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+
+# 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

ASIFT_tests/demo_ASIFT_src/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp

@@ -0,0 +1,377 @@
+/* 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;
+}

ASIFT_tests/demo_ASIFT_src/CMakeFiles/CMakeDirectoryInformation.cmake

@@ -0,0 +1,16 @@
+# CMAKE generated file: DO NOT EDIT!
+# 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/demo_ASIFT_src")
+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/harle/catkin_ws/src/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})
+SET(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})

ASIFT_tests/demo_ASIFT_src/CMakeFiles/CMakeOutput.log

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+Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
+Compiler: /usr/bin/cc 
+Build flags: 
+Id flags: 
+
+The output was:
+0
+
+
+Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "a.out"
+
+The C compiler identification is GNU, found in "/home/harle/catkin_ws/src/demo_ASIFT_src/CMakeFiles/2.8.12.2/CompilerIdC/a.out"
+
+Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded.
+Compiler: /usr/bin/c++ 
+Build flags: 
+Id flags: 
+
+The output was:
+0
+
+
+Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "a.out"
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+The CXX compiler identification is GNU, found in "/home/harle/catkin_ws/src/demo_ASIFT_src/CMakeFiles/2.8.12.2/CompilerIdCXX/a.out"
+
+Determining if the C compiler works passed with the following output:
+Change Dir: /home/harle/catkin_ws/src/demo_ASIFT_src/CMakeFiles/CMakeTmp
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+Run Build Command:/usr/bin/make "cmTryCompileExec3822325258/fast"
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+make[1]: Entering directory `/home/harle/catkin_ws/src/demo_ASIFT_src/CMakeFiles/CMakeTmp'
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+make[1]: Leaving directory `/home/harle/catkin_ws/src/demo_ASIFT_src/CMakeFiles/CMakeTmp'
+
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+Detecting C compiler ABI info compiled with the following output:
+Change Dir: /home/harle/catkin_ws/src/demo_ASIFT_src/CMakeFiles/CMakeTmp
+
+Run Build Command:/usr/bin/make "cmTryCompileExec3979303902/fast"
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+make[1]: Entering directory `/home/harle/catkin_ws/src/demo_ASIFT_src/CMakeFiles/CMakeTmp'
+/usr/bin/cmake -E cmake_progress_report /home/harle/catkin_ws/src/demo_ASIFT_src/CMakeFiles/CMakeTmp/CMakeFiles 1
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ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/flags.make

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+
+# compile C with /usr/bin/cc
+# compile CXX with /usr/bin/c++
+C_FLAGS = -I/home/harle/catkin_ws/src/demo_ASIFT_src/. -I/home/harle/catkin_ws/src/demo_ASIFT_src/./io_png -I/home/harle/catkin_ws/src/demo_ASIFT_src/./io_png/libs/png   
+
+C_DEFINES = 
+
+CXX_FLAGS =  -fopenmp -Wall -Wno-strict-aliasing -Wextra -Wno-write-strings -Wno-deprecated -ansi -O3 -ftree-vectorize -funroll-loops -I/home/harle/catkin_ws/src/demo_ASIFT_src/. -I/home/harle/catkin_ws/src/demo_ASIFT_src/./io_png -I/home/harle/catkin_ws/src/demo_ASIFT_src/./io_png/libs/png   
+
+CXX_DEFINES = 
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ASIFT_tests/demo_ASIFT_src/CMakeLists.txt

@@ -0,0 +1,54 @@
+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} -O3 -ftree-vectorize -funroll-loops")
+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)
+
+add_executable(test_ASIFT test_ASIFT.cpp ASIFT_matcher.cpp ${ASIFT_srcs})
+TARGET_LINK_LIBRARIES(test_ASIFT png zlib Match Numerics)
+

ASIFT_tests/demo_ASIFT_src/CMakeLists.txt~

@@ -0,0 +1,53 @@
+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} -O3 -ftree-vectorize -funroll-loops")
+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})
+
+add_executable(test_ASIFT test_ASIFT.cpp ASIFT_matcher.cpp ${ASIFT_srcs})
+
+TARGET_LINK_LIBRARIES(demo_ASIFT png zlib Match Numerics)

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.

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+.PHONY : test_ASIFT.cpp.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 "... demo_ASIFT"
+	@echo "... edit_cache"
+	@echo "... rebuild_cache"
+	@echo "... test_ASIFT"
+	@echo "... zlib"
+	@echo "... png"
+	@echo "... Match"
+	@echo "... Numerics"
+	@echo "... ASIFT_matcher.o"
+	@echo "... ASIFT_matcher.i"
+	@echo "... ASIFT_matcher.s"
+	@echo "... compute_asift_keypoints.o"
+	@echo "... compute_asift_keypoints.i"
+	@echo "... compute_asift_keypoints.s"
+	@echo "... compute_asift_matches.o"
+	@echo "... compute_asift_matches.i"
+	@echo "... compute_asift_matches.s"
+	@echo "... demo_ASIFT.o"
+	@echo "... demo_ASIFT.i"
+	@echo "... demo_ASIFT.s"
+	@echo "... demo_lib_sift.o"
+	@echo "... demo_lib_sift.i"
+	@echo "... demo_lib_sift.s"
+	@echo "... filter.o"
+	@echo "... filter.i"
+	@echo "... filter.s"
+	@echo "... flimage.o"
+	@echo "... flimage.i"
+	@echo "... flimage.s"
+	@echo "... fproj.o"
+	@echo "... fproj.i"
+	@echo "... fproj.s"
+	@echo "... frot.o"
+	@echo "... frot.i"
+	@echo "... frot.s"
+	@echo "... io_png/io_png.o"
+	@echo "... io_png/io_png.i"
+	@echo "... io_png/io_png.s"
+	@echo "... library.o"
+	@echo "... library.i"
+	@echo "... library.s"
+	@echo "... numerics1.o"
+	@echo "... numerics1.i"
+	@echo "... numerics1.s"
+	@echo "... orsa.o"
+	@echo "... orsa.i"
+	@echo "... orsa.s"
+	@echo "... splines.o"
+	@echo "... splines.i"
+	@echo "... splines.s"
+	@echo "... test_ASIFT.o"
+	@echo "... test_ASIFT.i"
+	@echo "... test_ASIFT.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:
+	$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+

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.

ASIFT_tests/demo_ASIFT_src/cmake_install.cmake

@@ -0,0 +1,52 @@
+# Install script for directory: /home/harle/catkin_ws/src/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/demo_ASIFT_src/io_png/cmake_install.cmake")
+  INCLUDE("/home/harle/catkin_ws/src/demo_ASIFT_src/libMatch/cmake_install.cmake")
+  INCLUDE("/home/harle/catkin_ws/src/demo_ASIFT_src/libNumerics/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+
+IF(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+ELSE(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+ENDIF(CMAKE_INSTALL_COMPONENT)
+
+FILE(WRITE "/home/harle/catkin_ws/src/demo_ASIFT_src/${CMAKE_INSTALL_MANIFEST}" "")
+FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES})
+  FILE(APPEND "/home/harle/catkin_ws/src/demo_ASIFT_src/${CMAKE_INSTALL_MANIFEST}" "${file}\n")
+ENDFOREACH(file)

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[4000];
+  vector<float> pixels(width*height);
+
+
+  rows = height;
+  cols = width;
+
+  halfsize = ksize / 2;
+  pixels = image;
+  assert(cols + ksize < 4000);
+
+  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[4000];
+  vector<float> pixels(width*height);
+
+  rows = height;
+  cols = width;
+
+  halfsize = ksize / 2;
+  pixels = image;
+  assert(rows + ksize < 4000);
+
+  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;
+}

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);

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();
+
+}
+

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();
+
+}
+

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);
+

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;
+}

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);

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_
+
+
+

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;
+    	
+	}
+
+}
+

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
+

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);
+	
+}
+
+
+		
+

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_
+

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();
+}
+
+
+
+

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
+

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; 
+}
+

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);
+